CN216164218U - Manure cleaning robot for animal house - Google Patents

Abstract

The utility model provides a dung cleaning robot for an animal house, which comprises: the movable chassis, the excrement cleaning mechanism and the control mechanism are arranged on the movable chassis; the excrement cleaning mechanism is arranged on one side of the movable chassis facing the ground; the dung cleaning mechanism comprises a dung scraping device and a cleaning device, and the dung scraping device and the cleaning device are arranged along the advancing direction of the dung cleaning robot for the livestock house; the control mechanism is used for being selectively in communication connection with the navigation device or the remote controller and is respectively in communication connection with the mobile chassis and the excrement cleaning mechanism. The automatic dung cleaning robot for the livestock house can automatically clean dung in the livestock house, is convenient and quick, ensures the operation reliability of the dung cleaning robot for the livestock house, and achieves a better dung cleaning effect.

Description

Manure cleaning robot for animal house

Technical Field

The utility model relates to the technical field of livestock breeding, in particular to a dung cleaning robot for an animal house.

Background

At present, livestock breeding is an important component of livestock breeding and is widely developed in the directions of scale, intellectualization and welfare. The dung and dirt in the livestock house is used as one of harmful gas and microorganism pollution sources in livestock breeding, and is particularly important for timely cleaning and treating the dung and dirt in the livestock house.

In large-scale animal houses, the breeding of live pigs, sheep and other livestock is generally performed by adopting a leaky floor, for example, such animal houses include group-raising piglet houses, group-raising fattening pig houses, group-raising sow pig houses, gestational house aisles, sheep houses and the like. In the cultivation process, the slotted floor can enable excrement to freely fall into the excrement ditch, so that the labor cost is reduced, and the cultivation environment of the animal house is improved. However, in the breeding process, the situations such as incomplete excrement leakage, ditch blockage and the like are caused, the morbidity of livestock is increased, raising personnel are required to regularly and manually clean excrement every day, time and labor are wasted, and an intelligent excrement cleaning device is not applied to a livestock shed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a livestock house dung cleaning robot which is used for solving the problem that time and labor are wasted when the dung of the livestock house is manually cleaned in the prior art.

The utility model provides a dung cleaning robot for an animal house, which comprises: the movable chassis, the excrement cleaning mechanism and the control mechanism are arranged on the movable chassis; the excrement cleaning mechanism is arranged on one side of the movable chassis facing the ground; the dung cleaning mechanism comprises a dung scraping device and a cleaning device, and the dung scraping device and the cleaning device are arranged along the advancing direction of the dung cleaning robot for the livestock house; the control mechanism is used for being selectively in communication connection with a navigation device or a remote controller and is respectively in communication connection with the mobile chassis and the excrement cleaning mechanism; wherein, navigation head locates the animal house.

According to the dung scraping robot for the animal house provided by the utility model, the dung scraping device comprises: a rigid dung scraping device and a flexible dung scraping device; the rigid dung scraping device is arranged on the front side of the cleaning device along the advancing direction; the flexible dung scraping device is arranged on the rear side of the cleaning device along the advancing direction.

According to the utility model, the rigid dung scraping device comprises: a rigid dung scraping plate; the rigid dung scraping plate extends along the width direction of the livestock house dung cleaning robot; one end of the rigid dung scraping plate is connected with the movable chassis; the other end of the rigid dung scraping plate is used for extending to the ground, and a gap is formed between the other end of the rigid dung scraping plate and the ground; and/or, the flexible dung scraping device comprises: a flexible dung scraping plate; the flexible dung scraping plate extends along the width direction of the livestock house dung cleaning robot; one end of the flexible dung scraping plate is connected with the movable chassis, and the other end of the flexible dung scraping plate is used for being in contact with the ground.

According to the utility model, the cleaning device comprises: a cleaning roller and a rotation driving mechanism; the cleaning roller is rotatably arranged on the movable chassis; the roller surface of the cleaning roller is connected with one end of the brush hair, and the other end of the brush hair is used for contacting the ground; the cleaning roller is connected with the rotary driving mechanism.

According to the dung cleaning robot for the animal house provided by the utility model, the cleaning device further comprises: an anti-fouling cover; the cleaning roller is rotatably arranged on the lower side of the anti-fouling cover, and the anti-fouling cover is connected with the movable chassis; the rotary drive mechanism includes: the driving motor and the chain transmission mechanism; the output end of the driving motor is connected with one end of the chain transmission mechanism, and the other end of the chain transmission mechanism is connected with one end of the cleaning roller.

According to the livestock shed manure cleaning robot provided by the utility model, the livestock shed manure cleaning robot further comprises: a sterilizing mechanism; the disinfection mechanism includes: a liquid medicine barrel, a liquid pump and a spraying component; the liquid medicine barrel is communicated with a liquid inlet of the liquid pump, and a liquid outlet of the liquid pump is communicated with the spraying assembly; wherein, spraying subassembly is located the removal chassis is towards one side on ground for towards ground spraying antiseptic solution.

According to the livestock house manure cleaning robot provided by the utility model, the spraying assembly comprises: the first spray head, the second spray head and the third spray head; the first sprayer is arranged on the front side of the rigid excrement scraping device along the advancing direction, the second sprayer is arranged between the rigid excrement scraping device and the cleaning device along the advancing direction, and the third sprayer is arranged on the rear side of the flexible excrement scraping device along the advancing direction.

According to the livestock shed manure cleaning robot provided by the utility model, the livestock shed manure cleaning robot further comprises: a control mechanism; the control mechanism includes: the control cabinet and the obstacle detection module; the barrier detection module is in communication connection with the control cabinet, and the control cabinet is in communication connection with the mobile chassis and the excrement cleaning mechanism respectively; the barrier detection module is arranged on the front side of the livestock house dung cleaning robot along the advancing direction.

According to the livestock house dung cleaning robot provided by the utility model, the control mechanism further comprises a charging access device and a charging detection device; the charging access device is arranged on one side of the movable chassis facing the ground and is electrically connected with the charging pile; the charging detection device is used for detecting the charging access device and the access state of the charging pile, and the charging detection device is in communication connection with the control cabinet.

According to the dung cleaning robot for the animal house provided by the utility model, the control mechanism further comprises: a music playing component; the control cabinet is in communication connection with the music playing component.

According to the dung cleaning robot for the animal house provided by the utility model, the control mechanism further comprises: the system comprises a distance measuring sensor, a speed measuring sensor and an electric quantity detection module; the control cabinet is respectively provided with a control module, a battery assembly, a suspension alarm, an abnormal emergency stop alarm and an electric quantity alarm; the distance measuring sensor is arranged on one side, facing the ground, of the moving chassis and used for detecting the height of the moving chassis from the ground; the speed measuring sensor is arranged on the movable chassis and used for detecting the starting and stopping states of the livestock house dung cleaning robot; the electric quantity detection module is used for detecting the residual electric quantity of the battery pack; the distance measuring sensor, the speed measuring sensor and the electric quantity detection module are respectively in communication connection with the control module, and the control module is respectively in communication connection with the suspension alarm, the abnormal emergency stop alarm and the electric quantity alarm.

According to the livestock house dung cleaning robot provided by the utility model, the mobile chassis comprises a frame, front wheels and rear wheels; the two front wheels and the two rear wheels are respectively arranged on the opposite sides of the frame along the width direction of the frame, and each front wheel and each rear wheel are provided with a first driving motor; and/or, be equipped with the anticollision wheel on the removal chassis, the anticollision wheel is followed the advancing direction of the clear excrement robot of animal house is located the front side of removal chassis, just the anticollision wheel is followed the width direction of the clear excrement robot of animal house is provided with a plurality ofly.

According to the livestock house dung cleaning robot provided by the utility model, under the condition that the control mechanism is in communication connection with the navigation device, the navigation device is arranged in the livestock house, the navigation device comprises a depth camera, an industrial personal computer and a wireless transmitter, the depth camera is in communication connection with the industrial personal computer, the industrial personal computer is in communication connection with the wireless transmitter, and the wireless transmitter is in communication connection with the mobile chassis.

When the livestock house is cleaned, a cleaning path can be planned to the movable chassis through the navigation device, and a control instruction can be sent to the movable chassis by a worker through the remote controller to control the livestock house cleaning robot to travel along the set cleaning path.

Therefore, the automatic dung cleaning robot can automatically clean dung in the animal house, is convenient and quick, ensures the operation reliability of the dung cleaning robot of the animal house, and achieves a better dung cleaning effect.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of a dung cleaning robot for a livestock house provided by the utility model;

FIG. 2 is a schematic structural view of the livestock house dung cleaning robot provided by the utility model in the livestock house;

FIG. 3 is a schematic structural view of a livestock house dung cleaning robot in a front view;

FIG. 4 is a schematic structural view of a sweeping apparatus provided in the present invention;

FIG. 5 is a schematic bottom view of the mobile chassis provided by the present invention;

FIG. 6 is a schematic view of the installation structure of the disinfection mechanism provided by the present invention on the moving chassis;

FIG. 7 is a schematic structural diagram of a control cabinet provided by the present invention;

FIG. 8 is a block diagram of a control structure of the livestock house dung cleaning robot provided by the utility model;

FIG. 9 is a schematic flow chart of a dung cleaning method based on a dung cleaning robot for a livestock house, which is provided by the utility model;

FIG. 10 is a second schematic flow chart of a dung cleaning method based on a dung cleaning robot for a livestock house provided by the utility model;

reference numerals:

1: a navigation device; 2: moving the chassis; 3: a manure cleaning mechanism;

4: a sterilizing mechanism; 5: a control cabinet; 6: a charging access device;

101: a depth camera; 102: an industrial personal computer; 103: a wireless transmitter;

201: a frame; 202: a front wheel; 203: a rear wheel;

204: a first drive motor; 205: an anti-collision wheel; 301: a rigid dung scraping device;

302: a cleaning device; 303: a flexible dung scraping device; 31: cleaning the roller;

32: a second drive motor; 33: a chain transmission mechanism; 34: a protective cover;

35: an anti-fouling cover; 401: a liquid medicine barrel; 402: a liquid pump;

403: a first nozzle; 404: a second nozzle; 405: a third spray head;

501: a control module; 502: a battery assembly; 503: a voltage converter;

504: a wireless receiver; 505: a music playing component; 506: a control button;

507: a display module; 508: a motor driver; 509: a limiting device;

510: an obstacle detection module; 511: an electric quantity alarm; 512: a suspension alarm;

513: an abnormal emergency stop alarm; 7: and (5) a livestock house.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A dung cleaning robot for a barn according to the present invention will be described with reference to fig. 1 to 10.

As shown in fig. 1 to 4, the embodiment provides a dung cleaning robot for a livestock house, which comprises a moving chassis 2, a dung cleaning mechanism 3 and a control mechanism; the excrement cleaning mechanism 3 is arranged on one side of the movable chassis 2 facing the ground; the dung cleaning mechanism 3 comprises a dung scraping device and a cleaning device 302, and the dung scraping device and the cleaning device 302 are arranged along the advancing direction of the dung cleaning robot of the livestock house; the control mechanism is used for being selectively in communication connection with the navigation device 1 or a remote controller and is respectively in communication connection with the mobile chassis 2 and the excrement cleaning mechanism 3; the navigation device 1 is arranged in the animal house to acquire environmental information in the animal house 7, and plans the cleaning path of the animal house dung cleaning robot according to the environmental information, so that the mobile chassis 2 can walk according to the planned cleaning path.

Specifically, this embodiment is when carrying out clear excrement to the animal house, and staff's accessible remote controller sends control command to removing chassis 2 to control the clear excrement robot of animal house and walk along the route of cleaning of settlement, because clear excrement mechanism 3 locates and removes chassis 2 towards one side on ground, then when removing chassis 2 walking, the accessible is scraped the excrement and dirt on ground to the crack floor of animal house to under cleaning device 302's cleaning is supplementary, clean the excrement and dirt on the crack floor to in the excrement ditch.

So, the clear excrement robot of animal house shown in this embodiment can realize the automatic clearance to the excrement in the animal house, and not only convenient and fast has ensured the reliability of the clear excrement robot operation of animal house moreover to reach better excrement and urine clearance effect.

It should be noted that the livestock house dung cleaning robot shown in the embodiment is suitable for a group-raising piglet house, a group-raising fattening pig house, a group-raising sow house, a gestational house passageway and a sheep house with a leaky floor.

The navigation device 1 shown in the present embodiment may be a visual navigation device or a radar navigation device. In the case that the navigation device 1 is a visual navigation device, the environmental information shown in this embodiment is image information in the animal house collected by the visual navigation device, so that the position information of the feces in the animal house can be obtained according to the image information, a global map is constructed, and a cleaning path for cleaning the leaking floor is planned on the global map.

Correspondingly, in the case that the navigation device 1 is a radar navigation device, the environmental information shown in this embodiment is a three-dimensional point cloud image in the livestock house acquired by a laser radar, so that the position information of the feces in the livestock house can be acquired according to the three-dimensional point cloud image, a global map is constructed, and a cleaning path for cleaning the leaky floor is planned on the global map.

As shown in fig. 2, the navigation device 1 of the present embodiment is fixedly disposed on the roof of the animal house and is located right above the geometric center of the slatted floor. The navigation device 1 comprises a depth camera 101, an industrial personal computer 102 and a wireless transmitter 103, wherein the depth camera 101 is in communication connection with the industrial personal computer 102, the industrial personal computer 102 is in communication connection with the wireless transmitter 103, and the wireless transmitter 103 is in communication connection with the mobile chassis 2. Here, the depth camera 101 takes a panoramic photograph of the animal house, the industrial personal computer 102 plans a cleaning path according to the environment of the animal house photographed by the depth camera 101, determines obstacles and the like, and transmits an instruction to the wireless receiver 504 on the animal house dung cleaning robot through the wireless transmitter 103, the wireless receiver 504 feeds a signal back to the control module 501 of the control cabinet 5, the control module 501 executes differential control on the first driving motor 204 on the mobile chassis 2 through the motor driver 508 according to the cleaning path to control the walking of the mobile chassis 2, and assists the animal house dung cleaning robot to complete dung cleaning operation. The first driving motor 204 may be a servo motor, and the motor driver 508 is a servo driver.

In this embodiment, a manual wireless remote control device may be configured for the livestock house dung cleaning robot, and a wireless communication connection between the wireless remote control device and the wireless receiver 504 on the livestock house dung cleaning robot is established. So, the clear excrement operation of staff's accessible wireless remote control equipment control animal house clear excrement robot provides the diversity selection in the navigation for the clear excrement robot of animal house, can be in real time to the operation developments of the clear excrement robot of animal house and the control of operation process, has increased the security of the clear excrement robot operation of animal house.

As shown in fig. 1 and 5, the moving chassis 2 of the present embodiment includes a frame 201, front wheels 202, and rear wheels 203. In the embodiment, two front wheels 202 and two rear wheels 203 are provided, and are respectively provided on opposite sides of the frame 201 in the width direction of the frame 201, and each front wheel 202 and each rear wheel 203 are provided with one first driving motor 204. Thus, the present embodiment can control the traveling operation of the mobile chassis 2 by means of differential adjustment.

In order to safely prevent and control the walking of the livestock house dung cleaning robot, the collision-prevention wheel 205 is further arranged on the moving chassis 2, the collision-prevention wheel 205 is arranged on the front side of the moving chassis 2 along the advancing direction of the livestock house dung cleaning robot, and the collision-prevention wheel 205 can be arranged in a plurality of width directions of the livestock house dung cleaning robot.

Further, as shown in fig. 1 and 3, the dung scraping device of the present embodiment includes: a rigid dung scraping device 301 and a flexible dung scraping device 303; the rigid dung scraping device 301 is arranged at the front side of the cleaning device 302 along the traveling direction; the flexible dung scraping device 303 is arranged at the rear side of the cleaning device 302 along the travelling direction.

Here, this embodiment is based on the optimal design of rigidity dung scraping device 301, cleaning device 302 and the position of flexible dung scraping device 303, can be when moving chassis 2 walking, scrape dung device 301 through the rigidity and carry out the propelling movement to the dung of large tracts of land dirt, and press the dung dirt to the dung ditch in from the slot on small-seam floor, brush remaining dung dirt on the small-seam floor to the dung ditch in through cleaning device 302, when the slot blocks up, cleaning device 302 still can go deep into the slot on small-seam floor, clear up the slot, and brush into the flakiness with the hardened dung that will be difficult to clear up, finally, scrape the dung dirt of flakiness dung and jam slot through the flexibility and carry out secondary clearance, greatly reduced the residual volume of dung dirt on the small-seam floor.

Therefore, the manure cleaning mechanism 3 shown in the embodiment can be used for carrying out multi-stage cleaning on manure on the slotted floor, not only can be used for cleaning the manure on the slotted floor, but also can be used for dredging and cleaning blocked manure among gaps of the slotted floor, and the reliability of the operation of the manure cleaning robot for the animal house is improved.

As shown in fig. 3, the rigid dung scraping device 301 according to the present embodiment includes: a rigid dung scraping plate; the rigid dung scraping plate extends along the width direction of the dung cleaning robot of the livestock house; one end of the rigid dung scraping plate is connected with the movable chassis 2; the other end of the rigid dung scraping plate is used for extending to the ground and forming a gap with the ground.

In the embodiment, the gap between the other end of the rigid dung scraping plate and the ground is set to be 1-5mm, and the other end of the rigid dung scraping plate can extend downwards towards the rear of the livestock house dung cleaning robot in an inclined mode, so that the included angle between the rigid dung scraping plate and the ground is 60-90 degrees, and the rigid dung scraping plate is prevented from being damaged during cleaning while dung is convenient to clean. The rigid dung scraping plate shown in this embodiment may be a steel plate, a wood plate, or a hard plastic plate, but is not limited thereto.

Meanwhile, the flexible dung scraping device 303 shown in the present embodiment includes: a flexible dung scraping plate; the flexible dung scraping plate extends along the width direction of the dung cleaning robot of the livestock house; one end of the flexible dung scraping plate is connected with the movable chassis 2, and the other end of the flexible dung scraping plate is used for contacting with the ground.

Wherein, the flexible dung scraping device 303 shown in this embodiment further includes: a squeegee blade support; the scraper support is arranged on one side of the movable chassis 2 facing the ground, and one end of the flexible dung scraping plate is connected with one end of the scraper support facing the ground. Here, the flexible dung scraping plate shown in this embodiment may specifically adopt a silica gel plate, and when the flexible dung scraping plate is vertically distributed, the height of the other end of the flexible dung scraping plate, which is lower than the ground, may be set to be 5-10mm, so that the other end of the flexible dung scraping plate may always be in contact with the ground in the driving process of the mobile chassis 2.

As shown in fig. 1, 3, and 4, the cleaning device 302 according to the present embodiment includes: a cleaning roller 31 and a rotation drive mechanism; the cleaning roller 31 is rotatably arranged at the lower side of the movable chassis 2; the roller surface of the cleaning roller 31 is connected with one end of the brush hair, and the other end of the brush hair is used for contacting the ground; the cleaning roller 31 is connected to a rotation drive mechanism. The bristles of this embodiment are spirally distributed on the side of the cleaning roller 31, and the length of the bristles is set to be 25-40 mm.

Specifically, the rotary drive mechanism shown in the present embodiment includes: a second drive motor 32 and a chain transmission mechanism 33; the output end of the second driving motor 32 is connected to one end of a chain transmission mechanism 33, and the other end of the chain transmission mechanism 33 is connected to one end of the cleaning roller 31. The chain transmission mechanism 33 includes a first chain wheel, a second chain wheel and a transmission chain, the output end of the second driving motor 32 is connected with the first chain wheel, the transmission chain is respectively connected with the first chain wheel and the second chain wheel in a power coupling manner, and the second chain wheel is connected with one end of the cleaning roller 31. Thus, when the second driving motor 32 is started, the second driving motor 32 can drive the cleaning roller 31 to rotate synchronously with the cleaning roller through the chain transmission mechanism 33.

As shown in fig. 3, the sweeping device 302 of the present embodiment further includes a protection cover 34 and a dirt-proof cover 35; the protection cover 34 and the anti-fouling cover 35 are respectively connected with the moving chassis 2.

The protection cover 34 shown in this embodiment covers the chain transmission mechanism 33 shown in the above embodiments to physically protect the chain transmission mechanism 33. The cleaning roller 31 shown in this embodiment is rotatably provided at the lower side of the dirt preventing cover 35, so that the dirt preventing cover 35 can effectively prevent the dirt from splashing into the livestock house cleaning robot when the cleaning roller 31 cleans the dirt on the ground.

As shown in fig. 3, 5 and 6, the livestock house dung cleaning robot of the embodiment is also provided with a disinfection mechanism 4; the sterilizing mechanism 4 includes: a liquid medicine barrel 401, a liquid pump 402 and a spraying component; the liquid medicine barrel 401 is used for containing disinfectant; the liquid medicine barrel 401 is communicated with a liquid inlet of the liquid pump 402, and a liquid outlet of the liquid pump 402 is communicated with the spraying assembly; wherein, the spraying subassembly is located the one side that removes chassis 2 and face ground to be used for towards ground spraying antiseptic solution. The disinfectant solution shown in this embodiment is a diluted disinfectant solution configured according to actual disinfection requirements, and the disinfectant solution may specifically be a peroxyacetic acid solution.

Specifically, the spraying assembly shown in this embodiment includes: a first spray head 403, a second spray head 404 and a third spray head 405; the first nozzle 403 is arranged at the front side of the rigid dung scraping device 301 along the travelling direction, the second nozzle 404 is arranged between the rigid dung scraping device 301 and the cleaning device 302 along the travelling direction, and the third nozzle 405 is arranged at the rear side of the flexible dung scraping device 303 along the travelling direction.

In this embodiment, the liquid medicine barrel 401 can be communicated with one end of the first liquid conveying pipe, the other end of the first liquid conveying pipe is communicated with the liquid inlet of the liquid pump 402, the liquid outlet of the liquid pump 402 is communicated with one end of the second liquid conveying pipe, the other end of the second liquid conveying pipe is communicated with one port of the four-way joint, and the second liquid conveying pipe is provided with a control valve. The other three ports of the four-way joint are communicated with the first spray head 403, the second spray head 404 and the third spray head 405 in a one-to-one correspondence manner.

Here, the first nozzle 403, the second nozzle 404 and the third nozzle 405 shown in this embodiment may be provided in plurality, and the plurality of first nozzles 403, the plurality of second nozzles 404 and the plurality of third nozzles 405 are all arranged at intervals along the width direction of the livestock house dung cleaning robot. In this embodiment, two first nozzles 403, two second nozzles 404 and two third nozzles 405 may be specifically disposed at a predetermined interval, the predetermined interval is 150-200mm, and the spraying angles of the first nozzle 403, the second nozzle 404 and the third nozzle 405 may range from 150 ° to 180 °.

Further, in order to ensure the reliability of the installation of the liquid medicine barrel 401 on the moving chassis 2, a plurality of limiting devices 509 are further arranged on the moving chassis 2, and the plurality of limiting devices 509 are arranged along the circumferential direction of the liquid medicine barrel 401 and connected with the outer wall surface of the liquid medicine barrel 401.

As shown in fig. 3, when the mobile chassis 2 travels, firstly, the disinfecting liquid sprayed by the first nozzle 403 can disinfect and wet the floor with leaks and the dirt on the floor with leaks on the front side of the mobile chassis 2, and then the rigid dung scraping device 301 pushes the dirt with the dirt and presses the dirt into the dirt ditch from the gap of the floor with leaks; then, the disinfectant sprayed by the second nozzle 404 wets the primarily cleaned leaking floor and the residual feces on the leaking floor, and the cleaning device 302 brushes the residual feces on the leaking floor into the feces trench, when the feces is blocked, the cleaning device 302 can also go deep into the trench of the leaking floor to clean the trench, and brush the hard feces into a flake shape; then, the flexible dung scraping device 303 carries out secondary cleaning on the flaky dung and the dung in the blocked slot, so that the residual dung on the leaky floor is greatly reduced; finally, the disinfectant sprayed by the third nozzle 405 disinfects the ground after the secondary cleaning.

Here, the livestock house dung cleaning robot shown in this embodiment is in the process of walking, and when dung is cleaned by the dung cleaning mechanism 3, the dung and the ground can be disinfected based on the wetting effect of the disinfectant sprayed by the disinfection mechanism 4, so that the dung and the ground can be disinfected in the operation, the ground of the livestock house can be disinfected after the dung is cleaned, and the risk of livestock infection germs is reduced.

As shown in fig. 1, 7 and 8, in order to perform obstacle avoidance control on the walking of the livestock house dung cleaning robot, the control mechanism shown in the present embodiment includes: a control cabinet 5 and an obstacle detection module 510; the navigation device 1 and the obstacle detection module 510 are respectively in communication connection with a control cabinet 5, and the control cabinet 5 is respectively in communication connection with the mobile chassis 2 and the feces cleaning mechanism 3; the obstacle detecting module 510 is provided on the front side of the livestock house dung cleaning robot in the traveling direction.

Specifically, the obstacle detection module 510 shown in the present embodiment may be an ultrasonic sensor, an infrared sensor, a laser radar, or the like. The obstacle detection module 510 shown in this embodiment is composed of an ultrasonic sensor and an infrared sensor, so as to realize simultaneous detection of a static obstacle and a dynamic obstacle (live pig).

As shown in fig. 2 and fig. 3, the number of the ultrasonic sensors in this embodiment is four, two of the ultrasonic sensors are disposed at a distance of 100-150mm from the ground, and the other two of the ultrasonic sensors are disposed at a distance of 300-400mm from the ground for detecting obstacles in the operation process of the livestock house dung cleaning robot.

Here, the control cabinet 5 shown in the present embodiment is provided with a control module 501, a battery pack 502, a voltage converter 503 and a wireless receiver 504. The battery assembly 502 is connected to a voltage converter 503; the voltage converter 503 supplies power to the control module 501, each sensing component and the driving component respectively; the obstacle detection module 510 and the wireless receiver 504 are respectively in communication connection with the control module 501, and the control module 501 is respectively in communication connection with the mobile chassis 2, the feces cleaning mechanism 3 and the disinfection mechanism 4. The control module 501 shown in this embodiment may be a single chip microcomputer or a PLC controller.

Meanwhile, the control mechanism shown in this embodiment further includes a charging access device 6 and a charging detection device; the charging access device 6 is arranged on one side of the movable chassis 2 facing the ground and is electrically connected with the charging pile; the charging detection device is used for detecting the access states of the charging access device 6 and the charging pile, and the charging detection device is in communication connection with the control cabinet 5.

Here, the charge detection device shown in the present embodiment may be a camera or a distance measurement sensor. In the case where the charging detection device is a camera, the access state of the charging access device 6 and the charging pile may be determined based on image information captured by the camera. Under the condition that the charging detection device is a distance measurement sensor, the distance measurement sensor can be used for detecting the displacement of the access end of the charging detection device relative to the movement of the electrode end of the charging pile, and the access states of the charging access device 6 and the charging pile can be judged according to the displacement of the movement.

Further, the control mechanism shown in this embodiment further includes: a music playing component 505; the control cabinet 5 is in communication connection with the music playing component 505. Here, by providing the music playing component 505, the music playing component 505 can be turned on continuously and regularly during the operation or stopping operation of the livestock house dung cleaning robot, thereby attracting the attention of the livestock playing and exercising the stress ability of the livestock.

Further, the control mechanism shown in this embodiment further includes: the system comprises a distance measuring sensor, a speed measuring sensor and an electric quantity detection module; the control cabinet 5 is further provided with a suspension alarm 512, an abnormal emergency stop alarm 513 and an electric quantity alarm 511.

Specifically, the distance measuring sensor shown in the present embodiment is disposed on a side of the moving chassis 2 facing the ground, so as to detect the height of the moving chassis 2 from the ground. The distance measuring sensor is in communication connection with a control module 501 of the control cabinet 5, and the control module 501 is in communication connection with a suspension alarm 512. Since the detection data of the distance measuring sensor changes when the mobile chassis 2 is in the suspension state, the control module 501 may control the suspension alarm 512 to start an alarm in time according to the data fed back by the distance measuring sensor, so as to wait for manual intervention.

Meanwhile, the speed measuring sensor shown in the embodiment is arranged on the movable chassis 2 and used for detecting the starting and stopping states of the livestock house dung cleaning robot; the speed measuring sensor is in communication connection with a control module 501 of the control cabinet 5, and the control module 501 is in communication connection with the abnormal emergency stop alarm 513. When the mobile chassis 2 is stuck or overturned, the speed sensor detects that the moving speed of the mobile chassis 2 is zero, and the control module 501 can control the abnormal emergency stop alarm 513 to start an alarm in time according to data fed back by the speed sensor so as to wait for manual intervention.

In addition, the power detection module shown in this embodiment is used for detecting the remaining power of the battery assembly 502; the electric quantity detection module is in communication connection with the control module 501, and the control module 501 is in communication connection with the electric quantity alarm 511 respectively. When the electric quantity is insufficient in the operation process of the livestock house dung cleaning robot, the charging pile is returned to charge, and the electric quantity alarm 511 is controlled to start alarming.

It should be noted that, in the embodiment, the shell wall of the control cabinet 5 is further provided with a display module 507, the display module 507 is in communication connection with the control module 501, and the display module 507 is configured to receive an operation instruction input by a worker and display operation parameters of the livestock house dung cleaning robot.

In this embodiment, a control button 506 is further disposed on a wall of the control cabinet 5, the control button 506 is in communication connection with the control module 501, the control button 506 includes a stop button and a start button, the stop button is used for controlling the livestock house dung cleaning robot to stop running emergently, and the start button is used for controlling the livestock house dung cleaning robot to start running.

As shown in fig. 9, this embodiment further provides a dung cleaning method for the dung cleaning robot of the livestock house, which includes:

step 901, environmental information in the animal house is acquired.

And 902, identifying the dung in the animal house according to the environmental information, determining the position information of the dung, and planning the cleaning path of the dung cleaning robot for the animal house according to the position information of the dung.

And 903, controlling the movable chassis to travel according to the cleaning path, and respectively starting the excrement cleaning mechanism and the disinfection mechanism.

Specifically, this embodiment is when carrying out the excrement removal to the animal house, through setting up navigation head, moving chassis and clear excrement mechanism, can confirm the position of excrement and urine according to the environmental information in the animal house under navigation head's guide to planning and cleaning the route, walking along the route of planning cleaning moving the chassis in the control, when being cleared up the excrement and urine on the fissure floor by clear excrement mechanism, still can start disinfection mechanism, carry out disinfection processing in step to excrement and urine and ground.

Therefore, the dung cleaning method can automatically clean dung in the animal house, is convenient and quick, can achieve a good dung cleaning effect, effectively improves the environment of the animal house, and reduces the spread of zoonosis diseases.

The method for removing feces according to the present embodiment will be described in detail with reference to fig. 10.

Firstly, starting a livestock house dung cleaning robot, staying the livestock house dung cleaning robot to a charging pile for charging, and starting a music playing component; and controlling the livestock house manure cleaning robot to carry out cleaning operation under the condition that the cleaning time interval is more than 6 hours.

Then, the livestock house dung cleaning robot moves under the navigation of the navigation device and carries out dung cleaning operation. In the operation process, the upper computer plans a route, transmits a walking instruction to the control module of the livestock house dung cleaning robot through wireless transmission, and the control module controls the operation of the livestock house dung cleaning robot in a differential mode. When the livestock house dung cleaning robot travels to the range of the leaking floor, the disinfecting mechanism can be started to moisten and disinfect the leaking floor.

Wherein, in the process that the livestock house dung cleaning robot travels, the infrared sensor and the ultrasonic sensor are used for identifying the obstacles. And judging the barrier in real time by the infrared sensor and the ultrasonic sensor, distinguishing a static barrier from a dynamic barrier, waiting for 10s in a static state when the barrier is identified as the dynamic barrier, and judging the electric quantity of the battery assembly, the residual quantity of disinfectant and the running state of the livestock house dung cleaning robot in real time when the barrier still exists after 10 s. When the electric quantity is insufficient in the operation process of the livestock house dung cleaning robot, the livestock house dung cleaning robot returns to the charging pile for charging, and the cleaning task is continuously completed after the charging is finished; when the disinfectant of the livestock house dung cleaning robot is insufficient, returning to a fixed place to add the disinfectant, and continuing to complete the cleaning task after finishing; when the livestock house dung cleaning robot is stuck, suspended and the like in the operation process, the corresponding alarm is immediately started to give an alarm, and the emergency stop switch is started to wait for manual treatment.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. A dung cleaning robot for an animal house, comprising:

moving the chassis;

the excrement cleaning mechanism is arranged on one side, facing the ground, of the movable chassis; clear excrement mechanism includes: the dung scraping device and the cleaning device are arranged along the advancing direction of the dung cleaning robot for the livestock house;

the control mechanism is used for being selectively in communication connection with a navigation device or a remote controller and is respectively in communication connection with the mobile chassis and the excrement cleaning mechanism;

the dung scraping device comprises: a rigid dung scraping device and a flexible dung scraping device; the rigid dung scraping device is arranged on the front side of the cleaning device along the advancing direction; the flexible dung scraping device is arranged on the rear side of the cleaning device along the advancing direction.

2. A livestock house manure cleaning robot according to claim 1,

the rigid dung scraping device comprises: a rigid dung scraping plate; the rigid dung scraping plate extends along the width direction of the livestock house dung cleaning robot; one end of the rigid dung scraping plate is connected with the movable chassis; the other end of the rigid dung scraping plate is used for extending to the ground, and a gap is formed between the other end of the rigid dung scraping plate and the ground;

and/or, the flexible dung scraping device comprises: a flexible dung scraping plate; the flexible dung scraping plate extends along the width direction of the livestock house dung cleaning robot; one end of the flexible dung scraping plate is connected with the movable chassis, and the other end of the flexible dung scraping plate is used for being in contact with the ground.

3. A livestock house manure cleaning robot according to claim 1,

the cleaning device includes: a cleaning roller and a rotation driving mechanism;

the cleaning roller is rotatably arranged on the movable chassis; the roller surface of the cleaning roller is connected with one end of the brush hair, and the other end of the brush hair is used for contacting the ground; the cleaning roller is connected with the rotary driving mechanism.

4. A livestock house dung cleaning robot according to any one of claims 1 to 3, characterized by further comprising: a sterilizing mechanism;

the disinfection mechanism includes: a liquid medicine barrel, a liquid pump and a spraying component; the liquid medicine barrel is communicated with a liquid inlet of the liquid pump, and a liquid outlet of the liquid pump is communicated with the spraying assembly;

wherein, spraying subassembly is located the removal chassis is towards one side on ground for towards ground spraying antiseptic solution.

5. A livestock house manure cleaning robot according to claim 4,

the spraying assembly comprises: the first spray head, the second spray head and the third spray head;

the first sprayer is arranged on the front side of the rigid excrement scraping device along the advancing direction, the second sprayer is arranged between the rigid excrement scraping device and the cleaning device along the advancing direction, and the third sprayer is arranged on the rear side of the flexible excrement scraping device along the advancing direction.

6. A livestock house dung-clearing robot according to any one of claims 1-3, characterized in that said control mechanism comprises: the control cabinet and the obstacle detection module;

the barrier detection module is in communication connection with the control cabinet, and the control cabinet is in communication connection with the mobile chassis and the excrement cleaning mechanism respectively; the barrier detection module is arranged on the front side of the livestock house dung cleaning robot along the advancing direction.

7. A livestock house manure cleaning robot according to claim 6,

the control mechanism also comprises a charging access device and a charging detection device; the charging access device is arranged on one side of the movable chassis facing the ground and is electrically connected with the charging pile; the charging detection device is used for detecting the access state of the charging access device and the charging pile, and is in communication connection with the control cabinet;

and/or, the control mechanism further comprises: a music playing component; the control cabinet is in communication connection with the music playing component;

and/or, the control mechanism further comprises: the system comprises a distance measuring sensor, a speed measuring sensor and an electric quantity detection module; the control cabinet is respectively provided with a control module, a battery assembly, a suspension alarm, an abnormal emergency stop alarm and an electric quantity alarm; the distance measuring sensor is arranged on one side, facing the ground, of the moving chassis and used for detecting the height of the moving chassis from the ground; the speed measuring sensor is arranged on the movable chassis and used for detecting the starting and stopping states of the livestock house dung cleaning robot; the electric quantity detection module is used for detecting the residual electric quantity of the battery pack; the distance measuring sensor, the speed measuring sensor and the electric quantity detection module are respectively in communication connection with the control module, and the control module is respectively in communication connection with the suspension alarm, the abnormal emergency stop alarm and the electric quantity alarm.

8. A livestock house manure cleaning robot according to any of claims 1 to 3, wherein said moving chassis comprises a frame, front wheels and rear wheels; the two front wheels and the two rear wheels are respectively arranged on the opposite sides of the frame along the width direction of the frame, and each front wheel and each rear wheel are provided with a first driving motor;

and/or, be equipped with the anticollision wheel on the removal chassis, the anticollision wheel is followed the advancing direction of the clear excrement robot of animal house is located the front side of removal chassis, just the anticollision wheel is followed the width direction of the clear excrement robot of animal house is provided with a plurality ofly.

9. A livestock house manure cleaning robot as claimed in any one of claims 1 to 3, wherein under the condition that the control mechanism is in communication connection with a navigation device, the navigation device is arranged in the livestock house, the navigation device comprises a depth camera, an industrial personal computer and a wireless transmitter, the depth camera is in communication connection with the industrial personal computer, the industrial personal computer is in communication connection with the wireless transmitter, and the wireless transmitter is in communication connection with the mobile chassis.

Images