JP5303670B1 - Unmanned cleaning and disinfection system and method for barns - Google Patents

Abstract

An unmanned washing and disinfecting system and method for a livestock barn that allows an unmanned running washing apparatus to be remotely operated to specify the position of dirt in excrement in a designated washing area and perform washing operations efficiently through a washing robot.
A cleaning area is imaged by an imaging camera after a cleaning operation by a cleaning robot, and a control unit compares the captured image with a reference image to determine whether the cleaning is completed, thereby completing the cleaning. The cleaning operation, the imaging of the cleaning area, and the cleaning completion determination are repeated until the unattended travel cleaning device 1 is moved to the next cleaning area.
[Selection] Figure 3

Description

  The present invention relates to an unattended cleaning and disinfecting system and method for barns such as cows, pigs and chickens.

When operating a livestock industry such as cattle, pigs, and chickens, cleaning of livestock excrement in the barn and disinfection of the barn are performed by spraying cleaning liquid etc. onto the floor at high pressure. May scatter and adhere to the worker, or may be inhaled and may be harmful to health.
In addition, when the area of the barn is large, the cleaning work performed by the worker while visually confirming the washing space of the barn is a heavy labor and a heavy work load.

For this reason, an unmanned vehicle traveling in a barn confirms the presence of excrement using an infrared camera or a hygrometer for determining the conductivity of the floor. Furthermore, unmanned vehicles have a cable caterpillar that can be reeled out and taken up by connecting the reel and the excrement slide. The cable caterpillar provided on the housing is wound up from the reeled-out state to move the excrement on the floor. It comes to collect. (See Patent Document 1).
Alternatively, an unmanned vehicle has been proposed in which one end of a telescopic support is attached to a housing and the other end of the telescopic support is attached to a waste slide. A cylinder is connected to the telescopic support, and the cylinder sets a force to press the excrement slide against the floor. By exchanging the telescopic support, the excrement slide slides on the floor. Can be scraped off. Near the excrement slide, a disinfectant spraying device for disinfecting the floor and a camera for detecting dirt on the floor are provided. (See Patent Document 2).

Special table 2003-500025 gazette Japanese translation of PCT publication No. 2003-500024

  In the unmanned vehicles shown in Patent Documents 1 and 2, the floor surface is imaged with a camera or the like, the position of the excrement is specified, and the excrement is moved by the excrement slide, so that labor saving can be achieved. However, when the excrement is slid on the floor surface, dirt adheres to an area that does not require cleaning, and it is necessary to separately clean the floor surface over a wide range. Moreover, it is necessary to carry out the excrement collected by the excrement slide from a barn by an operator or another transport device.

  The present invention solves the above-mentioned problems of the prior art, identifies the dirt position of the excrement in the designated washing area by running the unmanned running washing device by remote control, and can perform the washing work or the disinfection work efficiently through the washing robot. It is to provide an unattended cleaning and disinfecting system and method.

In order to achieve the above object, the present invention comprises the following arrangement.
That is, an unmanned traveling cleaning apparatus in which a cleaning robot is mounted on a vehicle main body that is driven by a battery, and an operation unit that commands the cleaning operation or the disinfection operation by remotely operating the unmanned traveling cleaning apparatus and moving it to a cleaning area in a barn. An unmanned cleaning and disinfecting system for a livestock barn, comprising: a column rotatably supported by the vehicle body; an articulated arm that can be expanded and contracted and rotated with respect to the column; A cleaning robot provided with a nozzle capable of injecting liquid, an imaging means provided in the cleaning robot for imaging a cleaning area in the barn, and a cleaning liquid or a disinfecting liquid sent to the vehicle body at the tip of the arm The cleaning liquid supply means for supplying piping to the nozzle, the captured image of the cleaning area captured by the imaging means, and the reference image of the cleaning area stored in advance are compared. Control means for specifying a cleaning range and operating the cleaning robot to eject the cleaning liquid or the disinfecting liquid to the cleaning range at a high pressure to perform a cleaning operation or a disinfecting operation. Based on the input cleaning operation command or disinfection operation command, the unmanned traveling cleaning device is moved to the cleaning area in the barn by remote control, and the cleaning robot specifies the cleaning range and performs the cleaning operation or the disinfection operation. After that, the imaging means picks up an image of the cleaning area, and the control means compares the picked-up image with the reference image to determine whether cleaning or disinfection is completed, and until cleaning or disinfection is completed. Repeat cleaning operation or disinfection operation, cleaning area imaging and cleaning completion determination, or cleaning area imaging and disinfection completion determination to complete cleaning or disinfection. The said unmanned cleaning device and repeating the operation of moving to the next cleaning area.

  If the above-mentioned unmanned cleaning and disinfecting system for a barn is used, the vehicle main body is remotely operated to move the barn to the cleaning area, and the stained image captured by the imaging means is contrasted with the reference image stored in advance. Can be identified. And, since the dirty part is set as the cleaning range, and the cleaning robot is operated and the cleaning liquid is ejected at a high pressure to perform the cleaning operation, the cleaning range including the dirty position of the excrement in the cleaning area is specified, and the excrement Can be efficiently cleaned. In addition, it is possible to efficiently disinfect the cleaning range where the excrement is cleaned. In addition, by repeating the cleaning operation, the imaging of the cleaning area, and the cleaning completion determination until the cleaning is completed, no waste remains in the cleaning area, and the cleaning operation can be efficiently performed unattended. Similarly, by repeating the disinfection completion determination, the disinfection operation can be performed efficiently by unattended.

  It is preferable that a nozzle for ejecting the cleaning liquid or the disinfecting liquid into different shapes is provided at the tip of the arm, and the shape of the ejected cleaning liquid or the disinfecting liquid is switchable. Thereby, according to the situation, according to the objective of excrement removal, washing | cleaning, disinfection, etc., work can be performed efficiently.

  It is preferable that a first nozzle that ejects the cleaning liquid or the disinfecting liquid in a shower shape and a second nozzle that ejects the cleaning liquid or the disinfecting liquid in a beam shape are switchably provided at the end of the arm. . Accordingly, the cleaning robot can perform cleaning by ejecting the cleaning liquid or the disinfecting liquid by switching the nozzles according to the degree of soiling of the excrement on the floor surface and the dirty area.

  It is preferable that the cleaning liquid or the disinfecting liquid is ejected from the first nozzle in a shower shape with respect to the excrement, and then the cleaning liquid or the disinfecting liquid is ejected from the second nozzle in a beam shape to be removed. As a result, the cleaning liquid or disinfecting liquid is ejected from the first nozzle in a shower-like manner to the excrement, and then softly loosened, and then the beam-shaped (straight) cleaning liquid or disinfecting liquid is ejected from the second nozzle. The excrement stuck to the surface can be surely removed.

  It is preferable to disinfect by disinfecting the disinfectant liquid from the first nozzle. Thereby, when disinfecting, the direction in which the disinfectant is foamed tends to remain on the floor for a long time, and the disinfection effect can be enhanced.

  The position where the unmanned running cleaning device stops running is a detection signal from a contact switch, a detection signal from a non-contact switch, a marker image in the barn imaged by the imaging means, or GPS. It is preferable that the position signal is specified by any one of the position signals input from the signal receiving unit. Thereby, even if it is an unmanned traveling vehicle, it can stop to the position of a washing | cleaning area reliably, and can transfer to the washing | cleaning operation | movement or disinfection operation | movement by a washing robot.

  In the unmanned cleaning and disinfecting method for livestock barns, the unmanned traveling cleaning device equipped with a cleaning robot on the battery-powered vehicle body is remotely operated from the operation terminal and moved to the cleaning area in the barn for cleaning or disinfecting work. An unmanned washing and disinfecting method for a livestock barn, instructing a washing area or a disinfection work by designating a washing area of the barn from the operation terminal, and commanding a traveling route of the unmanned traveling washing apparatus from the operation terminal; The unmanned traveling washing apparatus that has received a command from the operation terminal moves along the traveling route, detects the corresponding washing area, stops moving, and moves the washing robot mounted on the vehicle body from the standby position. The picked-up image obtained by picking up the image of the cleaning area by the image pickup means is transmitted to the operation terminal, and the control means takes the image. Comparing the image with a reference image stored in advance in the storage unit by image processing to identify a cleaning range associated with excrement contamination, and a cleaning or disinfecting solution at high pressure while moving the cleaning robot relative to the cleaning range A step of performing a cleaning operation or a disinfection operation by ejecting the image, and an image of the cleaning area after the cleaning operation or the disinfection operation is captured again by the imaging unit and transmitted to the operation terminal, and after the cleaning by the control unit Comparing the captured image and the reference image stored in the storage unit in advance by image processing to determine whether the cleaning operation or the disinfection operation is completed, and when the cleaning operation or the disinfection operation is completed The cleaning robot is returned to the standby position and the unattended traveling cleaning device is moved to the next cleaning area, and the cleaning operation or the disinfection operation is not completed. Expediently, and performing Repeat imaging operation or disinfection operation by the image pickup means from the cleaning operation by the cleaning robot again until the determination operation by the control unit through the imaging operation by the imaging means. Even if the above-described unmanned washing method for barns is used, no waste remains in the washing area, and the waste can be efficiently washed.

  As described above, an unmanned cleaning and disinfecting system and method for a livestock barn that allows an unmanned traveling cleaning apparatus to be remotely operated to identify a dirt position of excrement in a specified cleaning area and perform cleaning operations efficiently through a cleaning robot. Can do.

It is explanatory drawing which shows schematic structure of an unmanned running cleaning disinfection system. It is a block block diagram of a control system. It is a flowchart which shows an example of washing | cleaning operation | movement.

  Hereinafter, preferred embodiments of an unmanned washing and disinfecting system and method for a barn according to the present invention will be described in detail with reference to the accompanying drawings.

First, the configuration of an unmanned washing and disinfecting system for a barn will be described with reference to FIG.
The unmanned cleaning / disinfecting system includes an unmanned running cleaning apparatus 1 and an operation terminal 2 that transmits commands to the unmanned traveling cleaning apparatus 1 by remote control. For example, the operation terminal 2 may be a personal computer or a portable terminal. Communication between the operation terminal 2 and the unmanned running cleaning apparatus 1 is performed by wireless transmission / reception (for example, wireless WAN / public wireless LAN / WiMAX (registered trademark), dedicated line, etc.).

  In the unmanned running cleaning apparatus 1, the vehicle main body 3 runs unattended with four wheels driven by a battery. The front wheel 4a is a steering wheel, and the traveling direction is controlled by the rotational position of the guide wheel 5a. The rear wheel 4b is a drive wheel, and the drive direction is switched depending on the rotational position of the pivot wheel 5b. The guide wheel 5a and the pivot wheel 5b are attached to one end of the lever, the other end of the guide wheel lever is attached to the wheel shaft of the front wheel 4a, and the other end of the pivot wheel lever is attached to the wheel shaft of the rear wheel 4b. Yes. An endless track may be used instead of the wheel.

  A washing robot 6 is mounted on the vehicle body 3. Hereinafter, an example of the cleaning robot 6 will be described. The cleaning robot 6 is pivotally supported on the vehicle body 3 by a support 7. An articulated arm that can be expanded and contracted and rotated is connected to the column 7. Specifically, an extendable boom 8 connected to the support column 7 and an arm 9 rotatably connected to the tip of the boom 8 are provided. A nozzle capable of spraying a cleaning liquid is provided at the tip of the arm 9. The nozzle is provided so that the first nozzle 10 a that ejects the cleaning liquid in a shower shape and the second nozzle 10 b that ejects the cleaning liquid in a beam shape can be switched by the rotation of the arm 9. As a result, the cleaning robot 6 can perform cleaning by ejecting the cleaning liquid by switching the nozzles according to the degree of contamination of the excrement on the floor surface and the dirty area. An imaging camera 11 (imaging means) is provided in the vicinity of the nozzle on the tip side of the arm 9. As will be described later, the imaging camera 11 captures the washing area of the barn, transmits the image to the control unit 18, and transmits the image to the operation terminal 2 through the transmission / reception unit 19. The imaging camera 11 may be provided with a light source that illuminates the imaging area with illumination light.

  Further, a pair of handle support portions 12 are provided on the rear wheel 4 b side of the vehicle body 3. A hose reel 13 is supported between the handle support portions 12 so as to be rotatable (forward and reverse). A cleaning liquid hose 14 is wound around the hose reel 13. The cleaning liquid hose 14 on the outer peripheral side is connected to a supply tank (not shown), and the cleaning liquid is supplied at a high pressure by a liquid feed pump. Further, the cleaning liquid hose 14 on the inner peripheral side is connected to the vehicle main body 3. The cleaning liquid is supplied to the nozzle at the tip of the arm 9 through the support column 7 and the boom 8 by an on-off valve (electromagnetic valve) provided in the vehicle body 3 (cleaning liquid supply means). The cleaning liquid hose 14 is fed out from the hose reel 13 as the vehicle main body 3 travels, and when the vehicle main body 3 returns, the reeled-out cleaning liquid hose 14 is wound up by the reel winding motor. As the cleaning liquid, water, warm water, hot water, disinfecting liquid, or the like is used.

  When cleaning the floor surface, a cleaning liquid or a disinfecting liquid may be used, and a cleaning liquid or a disinfecting liquid may be ejected from the tip of the arm 9, and when disinfecting the floor surface, a disinfecting liquid may be used. Further, the nozzle at the tip of the arm 9 may be a nozzle that can be ejected in a bubble shape (whipped) containing a large amount of gas in order to keep the disinfectant liquid on the floor for a longer time and enhance the disinfection effect. No particular limitation is imposed on the type of nozzle, and it may be possible to use one nozzle for spraying in a shower, beam, or foam, and switching the nozzles. Alternatively, a nozzle that can be ejected by one nozzle may be provided. Even in the case of a nozzle in which two types of ejection shapes are combined, the ejection shapes may be switched within the nozzle. For example, the first nozzle 10a in the unmanned traveling cleaning apparatus 1 shown in FIG. 1 ejects liquid in a shower shape and a whip shape, and the second nozzle 10b is a nozzle that can eject liquid in a beam shape. It may be switched by.

  After the cleaning operation is finished, the disinfection operation can be performed. Moreover, only the disinfection work can be performed on the floor surface that has been cleaned in advance. The disinfection operation may be performed by the same method as the cleaning operation. The sterilization operation is performed based on the sterilization work command, and the sterilization operation may be performed by specifying the cleaning range to determine whether the sterilization is completed. At this time, completion determination may be performed by visual observation or a fixed point camera in a barn, and if the floor surface is determined to be wet by the imaging unit, it may be determined that disinfection has been completed. In addition, it is possible to determine whether or not only the disinfection work may be performed by distinguishing the presence or absence of dirt in the cleaning area by the imaging means. Hereinafter, it will be described that the process related to cleaning includes the process related to disinfection.

A handle 15 is provided at the upper end of the pair of handle support portions 12 so as to cross the support portion 12. The handle 15 is provided with a clutch handle 16 that transmits or interrupts the drive from the drive source to the drive wheel (rear wheel 4b). An operation panel 17 is provided in front of the handle 15.
The operation panel 17 is provided with various function keys that allow an operator to manually run the vehicle body 3 and operate the cleaning robot 6 by manual input. In addition, a GPS signal receiving unit 21 is provided in the case of self-running using a transmission / reception unit 19 that performs radio transmission / reception with the operation terminal 2 or a GPS (Global Positioning System) signal (see FIG. 2).

Next, FIG. 2 is a block diagram showing a control system of the unmanned traveling cleaning / disinfecting system.
In the vehicle main body 3, a control unit 18 (control means) that controls the traveling of the vehicle main body 3 and the cleaning operation of the cleaning robot 6 is provided. The control unit 18 is provided with a CPU 18a (central processing unit) that outputs a control command to each part of the system, performs arithmetic processing based on input information, and controls the operation of each unit based on a control program. . In addition, a ROM that stores control data such as a traveling program and a program relating to a cleaning operation, a RAM that temporarily stores teaching data such as reference image data of a cleaning area, and a RAM that is used as a work area of a CPU, etc. A storage unit 18b is provided. The control unit 18 is further provided with an image processing unit 18c for specifying the cleaning range by comparing the input image and the reference image. The reference image data can be updated one by one from the barn or from the cleaning area.

When a command is input at the operation terminal 2, the transmission / reception unit 19 of the operation panel 17 receives the command, and the control unit 18 receives a command from the operation terminal 2 received by the transmission / reception unit 19 of the operation panel 17. In addition, a command input directly by the operator from the operation panel 17 is also input.
Further, for example, a detection signal from a contact switch (limit switch) 20 is input to the position at which the vehicle main body 3 traveling unattended stops. Further, instead of the contact switch 20, any of a detection signal from a non-contact switch, a marker image in a barn imaged by the imaging camera 11, or a position signal input from the GPS signal receiving unit 21 may be used. Thereby, even if the vehicle body 3 travels unattended, it is possible to reliably stop at the position of the cleaning area and shift to the cleaning operation by the cleaning robot 6.

  In addition, a travel command or a travel stop command for the vehicle main body 3 is output from the control unit 18 to the travel drive unit 22. The traveling drive unit 22 starts or stops the drive motor. Further, as the operation of the cleaning robot 6, a command is output to the column driving unit 23 to drive the column rotating motor to rotate the column 7. Further, a command is output to the boom drive unit 24, and the boom 8 is expanded or contracted or rotated in the vertical direction by either or both of the expansion / contraction motor and the vertical movement motor. Also, a command is output to the arm drive unit 25, and the arm 9 is rotated or rotated in the vertical direction by either or both of the rotation motor and the vertical movement motor. Further, the solenoid valve 26 is opened and closed by energizing / de-energizing the coil, and the cleaning liquid is ejected from the nozzle at a high pressure or the ejection is stopped. Also. By outputting a command to the winding drive unit 27 and driving the winding motor, the hose reel 13 rotates, and the fed cleaning liquid hose 14 is wound around the hose reel 13.

  The operator operates the operation terminal 2 to remotely operate the vehicle body 3 to move the barn to the cleaning area. Then, the cleaning area is identified by comparing the captured image of the cleaning area captured by the imaging camera 11 with the reference image stored in advance, and the cleaning robot 6 is operated to eject the cleaning liquid at high pressure to perform the cleaning operation.

  Hereinafter, an example of the unmanned running cleaning method will be described based on the flowchart of FIG. First, the operator designates the cleaning area of the barn where the cleaning work is necessary from the operation terminal 2. By specifying the cleaning area, the travel route of the vehicle body 3 is also determined, and this is commanded from the operation terminal 2 (step S1).

  Next, when the transmission / reception unit 19 of the vehicle body 3 receives the work start command from the operation terminal 2, the control unit 18 causes the unmanned traveling cleaning apparatus 1 to travel along the designated travel route through the travel drive unit 22 (step S2). . If the contact switch (for example, limit switch) 20 detects a detected part (for example, a detected rod) provided at the stop position of the corresponding cleaning area during traveling, the traveling operation is stopped (steps S3 and S4).

  When the unmanned traveling cleaning apparatus 1 stops traveling, the cleaning robot 6 mounted on the vehicle body 3 is operated from the standby position, and an image of the cleaning area is captured by the imaging camera 11 and transmitted to the operation terminal 2. The cleaning robot 6 rotates the column 7 and expands and contracts the boom 8 up and down, and images the floor surface with the imaging camera 11 provided at the tip of the arm 9 (step S5). The control unit 18 reads out the captured image and the reference image stored in advance in the storage unit 18b, compares them by image processing, and specifies a cleaning range associated with excrement contamination. Specifically, the image processing unit 18c performs digital image processing based on the contrast between the floor color and the color of the excrement to detect the corresponding pixel shading, and specifies the washing range contaminated with the excrement by coordinates. To do. The above work can be visually recognized on the monitor screen at the operation terminal 2 (step S6).

Next, when the cleaning range is determined, the control unit 18 performs cleaning by jetting cleaning liquid from the nozzle at a high pressure with respect to the cleaning range while combining expansion and contraction and vertical movement of the boom 8 of the cleaning robot 6 and vertical movement and rotation of the arm 9. Let the action take place. The cleaning liquid is supplied from a supply tank (not shown) to the vehicle main body 3 via the cleaning liquid hose 14 by a liquid supply pump. By opening the electromagnetic valve 26, the nozzle is provided on the arm 9 through the support column 7 and the boom 8. Spray. At this time, the cleaning liquid is ejected from the first nozzle 10a at a high pressure in the form of a shower with respect to the excrement, and then the arm 9 is rotated by, for example, 180 ° to eject the cleaning liquid from the second nozzle 10b in the form of a beam. Is preferred. As a result, after the cleaning liquid is jetted out from the first nozzle 10a in a shower-like manner and the excrement is softly loosened, the beam-like (straight) cleaning liquid is jetted out from the second nozzle 10b, so that the excrement stuck to the floor surface. Can be reliably removed.
Further, in order to eject the cleaning liquid toward the specified cleaning range, the coordinates of the nozzle are determined by determining the coordinates from the image captured by the imaging camera 11 and combining the vertical movement of the arm 9, the expansion and contraction of the boom 8, and the rotation operation of the column 7. And inject. When the cleaning operation is stopped, the electromagnetic valve 26 is closed to shut off the cleaning liquid (step S7).

  The image of the cleaning area after the cleaning operation is captured again by the imaging camera 11 and transmitted to the control unit 18 and the operation terminal 2 (step S8). In the image processing unit 18c, the control unit 18 compares the captured image after cleaning with the reference image stored in advance in the storage unit 18b by image processing to determine whether or not the cleaning operation is completed. Specifically, the image processing unit 18c performs digital image processing based on the contrast between the floor color and the excrement color to determine whether or not there is a difference in the shade of the corresponding pixel (step S9). .

  If the cleaning operation is completed, the cleaning robot 6 is returned to the standby position and the cleaning operation is terminated (step S10). If the cleaning operation is not completed, the process returns to step S7 again, and the cleaning robot 6 repeatedly performs the cleaning operation, the imaging operation by the imaging camera 11, and the determination operation by the control unit 18.

  Next, the control unit 18 determines whether or not the cleaning area exists (whether or not the cleaning operation is completed) (step S11). If the cleaning area does not exist, the control unit 18 ends the cleaning operation, and the unmanned traveling cleaning device 1 is caused to travel back to the original position (step S12). At this time, the drawn cleaning liquid hose 14 is wound around the hose reel 13. If the next cleaning area exists, the process returns to step S2 to cause the unmanned traveling cleaning apparatus 1 to travel toward the next cleaning area, and the operations from step S2 to step S10 are repeated.

  By repeating the above operation for each designated cleaning area, the barn cleaning work can be performed unattended by remote operation. As the vehicle main body 3 travels, the cleaning liquid hose 14 wound around the hose reel 13 is fed out. When the vehicle main body 3 is returned to the original position, the hose reel 13 is moved through the winding drive unit 27. It is wound up sequentially by rotating.

  If the above-described unmanned cleaning and disinfecting system and method for a barn are used, it is possible to specify the position of the excrement in the cleaning area of the barn as the cleaning range, and to efficiently clean the excrement. In addition, no excrement residue remains in the cleaning area, and the cleaning operation can be efficiently performed unattended.

  In addition, although the Example mentioned above demonstrated the washing | cleaning disinfection system and method which wash | cleans the floor surface of a barn, washing | cleaning may be used when spraying disinfecting liquid not only when washing with water. The unmanned running cleaning apparatus 1 may be a non-contact switch (such as a magnetic sensor) or a vehicle that is self-propelled by receiving a GPS signal by the GPS signal receiving unit 21 instead of the contact switch 20.

  In addition, when the operator detects a marker image from an image captured from the imaging camera 11 and transmitted to the operation terminal 2, the vehicle body 3 stops traveling and the cleaning robot 6 is shifted to a cleaning operation by remote control. A command may be issued as follows.

  Further, the unmanned traveling cleaning apparatus 1 can travel the vehicle body 3 while manually operating the clutch handle 16 through the traveling drive unit 22 by operating the operation panel 17. Thereby, it is possible to move between the barns that are not programmed in advance in the control unit 18 of the unmanned traveling washing apparatus 1 on an arbitrary traveling path.

  Further, the unmanned traveling cleaning and disinfecting system and method may perform cleaning operation by operating the unmanned traveling cleaning apparatus by remote operation by designating not only the cleaning area in the same barn but also a plurality of barns as the cleaning area. .

  DESCRIPTION OF SYMBOLS 1 Unmanned running washing apparatus 2 Operation terminal 3 Vehicle main body 4a Front wheel 4b Rear wheel 5a Guide wheel 5b Pivot wheel 6 Cleaning robot 7 Post 8 Boom 9 Arm 10a 1st nozzle 10b 2nd nozzle 11 Imaging camera 12 Handle support part 13 Hose reel 14 Cleaning liquid hose 15 Handle 16 Clutch handle 17 Operation panel 18 Control unit 18a CPU 18b Storage unit 18c Image processing unit 19 Transmission / reception unit 20 Contact switch 21 GPS signal reception unit 22 Travel drive unit 23 Strut drive unit 24 Boom drive unit 25 Arm drive unit 26 Solenoid valve 27 Winding drive

Claims (7)

An unmanned traveling washing apparatus having a washing robot mounted on a vehicle body that is driven by a battery, and an operation means for instructing a cleaning operation or a disinfection operation by remotely operating the unmanned traveling washing apparatus and moving it to a washing area in a barn. An unmanned cleaning and disinfecting system for a livestock barn,
A strut rotatably supported on the vehicle body;
A cleaning robot including an articulated arm that can be expanded and contracted and rotated with respect to the support column, and a nozzle that can inject a cleaning liquid or a disinfecting liquid at the tip of the arm;
An imaging means provided in the cleaning robot for imaging a cleaning area in the barn;
A cleaning liquid supply means for supplying the cleaning liquid or the disinfecting liquid sent to the vehicle body to the nozzle at the tip of the arm;
The cleaning area is identified by comparing the captured image of the cleaning area captured by the imaging unit with the reference image of the cleaning area stored in advance, and the cleaning robot or the disinfecting liquid is applied to the cleaning area by operating the cleaning robot. Control means for performing a cleaning operation or a disinfection operation by ejecting at a high pressure,
Based on a cleaning operation command or a disinfection operation command input from the operation means, the unmanned traveling cleaning device is moved to a cleaning area in the barn by remote operation, and the cleaning range is specified by the cleaning robot or After the disinfection operation is performed, the cleaning unit performs imaging of the cleaning area, and the control unit compares the captured image with the reference image to determine whether cleaning or disinfection is completed, and cleaning or disinfection is performed. The cleaning operation or the disinfection operation, the cleaning area imaging and the cleaning completion determination, or the cleaning area imaging and the disinfection completion determination are repeated until the cleaning is completed, and when the cleaning or the disinfection is completed, the unmanned traveling cleaning apparatus is moved to the next cleaning area. An unattended cleaning and disinfecting system for barns, characterized by repeated operation.   The unmanned cleaning and disinfection of a barn according to claim 1, wherein a nozzle for ejecting the cleaning liquid or the disinfecting liquid into different shapes is provided at the tip of the arm, and the shape of the discharged cleaning liquid or the disinfecting liquid can be switched. system.   At the tip of the arm, a first nozzle that ejects the cleaning liquid or the disinfecting liquid in a shower form or a foam form and a second nozzle that ejects the cleaning liquid or the disinfecting liquid in a beam form are switchable. The unmanned washing and disinfecting system for barns according to claim 1 or 2.   4. The cleaning liquid or the disinfecting liquid is ejected from the first nozzle in a shower shape with respect to excrement, and then the cleaning liquid or the disinfecting liquid is ejected from the second nozzle in a beam shape to be removed. Unattended cleaning and disinfection system.   The unmanned cleaning / disinfecting system according to claim 3 or 4, wherein the disinfecting liquid is ejected from the first nozzle in the form of bubbles.   The position where the unmanned running cleaning device stops running is a detection signal from a contact switch, a detection signal from a non-contact switch, a marker image in the barn imaged by the imaging means, or GPS. The unmanned cleaning and disinfecting system for barns according to any one of claims 1 to 5, wherein the system is specified by any one of position signals input from the signal receiving unit. This is an unmanned cleaning and disinfecting method for a barn in which an unmanned traveling cleaning device equipped with a cleaning robot on a battery-powered vehicle body is remotely operated from an operation terminal and moved to a cleaning area in the barn to perform cleaning or disinfection. And
Instructing a washing area or a disinfection work by designating a washing area of a barn from the operation terminal and instructing a traveling route of the unmanned traveling washing apparatus from the operation terminal;
The unmanned traveling cleaning apparatus that has received a command from the operation terminal moves along the traveling route, detects a corresponding cleaning area, and stops moving.
The cleaning robot mounted on the vehicle main body is operated from the standby position, and the captured image obtained by capturing the image of the cleaning area by the imaging unit is transmitted to the operation terminal, and the captured image and the reference stored in the storage unit in advance by the control unit Comparing the images by image processing to identify the cleaning area associated with excrement contamination;
Performing a cleaning operation or a disinfection operation by ejecting a cleaning liquid or a disinfecting liquid at a high pressure while moving the cleaning robot with respect to the cleaning range; and
The image of the cleaning area after the cleaning operation or the disinfection operation is captured again by the imaging unit and transmitted to the operation terminal, and the captured image after cleaning and the reference image stored in advance in the storage unit are imaged by the control unit. Determining whether the cleaning operation or the disinfection operation is completed in comparison with the processing;
When the cleaning operation or the disinfection operation is completed, the cleaning robot is returned to the standby position to move the unmanned traveling cleaning device to the next cleaning area, and when the cleaning operation or the disinfection operation is not completed An unmanned washing and disinfecting method for a barn, wherein the cleaning operation by the cleaning robot, the imaging operation by the imaging means or the disinfection operation, the imaging operation by the imaging means, and the determination operation by the control means are repeated.

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