KR102526962B1 - Multi-function autonomous driving robot for rearing broiler chicks - Google Patents

Abstract

The present invention relates to a multi-functional broiler house work autonomous robot device, which improves a breeding environment, comprising: a body; a sensor unit disposed in the body; a driving unit; a carcass removal unit disposed on one side of the body in a front-back direction; a rice husk spreading unit; a rice husk stirring unit disposed at a lower part of the rice husk spreading unit; a microbial liquid spray unit; and a thermal imaging camera unit disposed in front of the body.

Description

Multi-function autonomous driving robot for rearing broiler chicks}

The embodiment relates to an autonomous driving robot device for multifunctional broiler work, which performs autonomous driving through a sensor unit, collects dead livestock, spreads rice hulls, and stirs rice hulls. will be.

In poultry farms, chaff is spread on the floor. Rice hull prevents floor contamination and facilitates disposal of livestock manure. Rice husk can be used as feed or compost by adding a pollination agent or microorganism, stirring it, mixing it with other materials, and fermenting it.

Such chaff is laid or collected directly on the floor of the barn by a breeder using a wheelbarrow or shovel. Therefore, there is a problem that requires a lot of labor of breeders. Accordingly, Republic of Korea Patent Registration No. 10-2282606 (2021.07.22. Announcement, hereinafter referred to as this document) discloses a spraying device that automatically spreads rice hull.

The spraying device of this document is configured to travel while spraying rice hull through the rotational force of the drive unit. However, such a spraying device must be directly operated by an operator. In addition, even if it is set to run automatically by specifying a path, there is a problem in that it is difficult to automatically spray when obstacles such as dead bodies cannot be avoided.

In addition, when a dead body is found, it is inconvenient to get down to the spraying device and collect the dead body directly by the breeder.

On the other hand, in the case of chaff accumulated on the floor of the barn, the outer part becomes hard. In addition, there is a problem in that livestock die when ammonia is accumulated in rice hulls due to livestock manure. In the case of the spraying device of this document, in the case of agitation to prevent this, there is a problem that the breeder must manually proceed through a separate tool.

Republic of Korea Patent Registration No. 10-2282606 (2021.07.22. Notice)

An object of the present invention is to provide a self-driving robot device for multi-functional broiler work, which is capable of self-driving, automatically spraying and stirring rice hulls, disinfection work, and carcass collection.

The problem to be solved by the present invention is not limited to the above-mentioned problems, and other problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

The embodiment includes a body, a sensor unit disposed on the body, a driving unit for driving the body based on information detected by the sensor unit, a corpse collection unit disposed on one side of the body in the front and rear direction, and a front and rear direction. A rice hull spreading unit disposed on the other side of the body, a rice hull stirring unit disposed below the rice hull spreading unit, a microbial liquid spraying unit disposed on the other side of the body and spraying a microbial liquid, and disposed in front of the body It includes a thermal imaging camera, and the body collection unit includes a basket driving unit including an axis disposed along the left and right directions, a basket rotatably coupled to the axis and disposed in front of the axis, and disposed behind the axis. If the object captured by the thermal imaging camera unit is below the reference temperature, the basket driver determines that the object is a corpse, rotates the basket, and transports the corpse to the corpse collection box, and the corpse collection box is a thick plate And, a front plate, a bottom plate connecting the back plate and the front plate, and a side plate connecting the back plate and the front plate, wherein the basket includes a bottom portion and side portions disposed on both sides of the bottom portion, wherein the The bottom portion includes a first part, a second part connected to the shaft portion, and a third part connected to the first part and the second part and connected to the first part obliquely, and the width of the second part in the left-right direction. is smaller than the left-right width of the first part, the left-right width of the body collection box is greater than the left-right width of the second part and smaller than the left-right width of the first part, and the upper end of the front plate is the uppermost end of the shaft part When the basket rotates, the first part covers the front of the carcass collection box, the second part covers the upper part of the carcass collection box, and the side parts cover both sides of the carcass collection box. An autonomous driving robot device for work can be provided.

The rice husk stirring unit includes a frame, a rotational shaft rotatably disposed on the frame, a plurality of blade parts coupled to the rotational shaft, and a rotational shaft driving unit disposed on the frame and connected to the rotational shaft to rotate the rotational shaft, The frame is movably coupled to the body in the vertical direction, and in a state in which the basket rotates to cover the body collection box, the frame descends and the blade rotates to mix the chaff placed on the floor.

The blade unit includes a first blade and a second blade disposed perpendicular to the first blade and coaxially coupled with the first blade, wherein the first blade includes a first inner portion coupled to the rotation shaft, and the first inner portion. A first outer portion bent toward the front at one end, and a second outer portion bent toward the rear at the other end of the first inner portion, wherein the second blade includes a second inner portion coupled to the rotating shaft, and the second It may include a third outer part bent toward the rear at one end of the inner part, and a fourth outer part bent toward the front at the other end of the second inner part.

The rice hull spreading unit includes a hopper including an inlet, a first outlet, and a second outlet, a first roller disposed at the first outlet, a second roller disposed at the second outlet, and the first roller and the first roller. It includes a roller drive unit connected to two rollers, an inlet is located on the upper side of the hopper, the first outlet is disposed below the left side of the hopper, and the second outlet is located below the right side of the hopper. And, the axial direction of the first roller and the axial direction of the second roller are disposed in the forward and backward directions, so that the first roller and the second roller rotate, respectively, to remove the rice hulls accommodated in the hopper to the left or rear of the hopper. It can be sprayed sideways.

The bottom surface of the hopper may include a first inclined surface inclined toward the left side and formed up to the first outlet, and a second inclined surface disposed inclined toward the right side and formed up to the second outlet.

The microbial liquid spray unit includes a storage unit for storing the microbial liquid storage unit disposed in the hopper and a plurality of nozzles connected to the storage unit, and the plurality of nozzles are disposed along the left and right directions and disposed above the blade unit. and the microbial solution is sprayed toward the blade part, but the nozzle may be disposed behind the blade part.

The frame includes a first surface on which the roller driving unit is mounted, and a second surface disposed above the first surface and disposed behind the first surface on which the nozzle is disposed. The second face may be arranged in parallel.

A lowermost end at which the blade unit is located may be higher than a lowermost end of the driving unit.

According to the embodiment, there is an advantage that disinfection work and carcass collection can be performed together while autonomously driving without manipulation of breeders and automatically spraying and stirring rice hulls.

According to the embodiment, there is an advantage in determining a dead body through a thermal imaging camera, collecting the dead body in a basket, and immediately storing it in a collection box when determined to be a dead body.

According to the embodiment, there is an advantage in improving the breeding environment by mixing the chaff on the floor through the blade unit.

According to the embodiment, there is an advantage of effectively removing ammonia in the rice hull by spraying microorganisms on the rice hull through the microbial solution spraying unit while mixing the rice hull on the floor.

According to the embodiment, by supplying the rice hull in the left and right directions through the roller, there is an advantage in that the rice hull can be supplied to a place where it is difficult to stir, such as a water line where chickens drink water.

1 is a perspective view of an autonomous driving robot device for multifunctional broiler work according to an embodiment viewed from one side;
2 is a perspective view of an autonomous driving robot device for multifunctional broiler work according to an embodiment viewed from the other side;
3 is a view showing a corpse collection unit;
4 is a view showing a basket of a corpse collection unit;
5 is a view showing the side of the basket;
6 is a view showing a corpse collection box;
7 is a view showing the process of collecting dead bodies;
8 is a view showing an autonomous robot device for multifunctional broiler work for stirring rice hulls after collecting dead bodies;
9 is a perspective view showing a rice hull spreading unit;
10 is a view showing a process of spreading rice hull;
11 is a view showing a rice hull agitator;
12 and 13 are views showing a blade unit;
14 is a view showing a microbial liquid spraying unit;
15 is a view showing a blade unit and a nozzle.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

However, the technical idea of the present invention is not limited to some of the described embodiments, but may be implemented in a variety of different forms, and if it is within the scope of the technical idea of the present invention, one or more of the components among the embodiments can be selectively implemented. can be used by combining and substituting.

In addition, terms (including technical and scientific terms) used in the embodiments of the present invention, unless explicitly specifically defined and described, can be generally understood by those of ordinary skill in the art to which the present invention belongs. It can be interpreted as meaning, and commonly used terms, such as terms defined in a dictionary, can be interpreted in consideration of contextual meanings of related technologies.

Also, terms used in the embodiments of the present invention are for describing the embodiments and are not intended to limit the present invention.

In this specification, the singular form may also include the plural form unless otherwise specified in the phrase, and when described as “at least one (or more than one) of A and (and) B and C”, A, B, and C are combined. may include one or more of all possible combinations.

Also, terms such as first, second, A, B, (a), and (b) may be used to describe components of an embodiment of the present invention.

These terms are only used to distinguish the component from other components, and the term is not limited to the nature, order, or order of the corresponding component.

In addition, when a component is described as being 'connected', 'coupled' or 'connected' to another component, the component is not only directly connected to, combined with, or connected to the other component, but also with the component. It may also include the case of being 'connected', 'combined', or 'connected' due to another component between the other components.

In addition, when it is described as being formed or disposed on “above (above) or below (below)” of each component, “upper (above)” or “lower (below)” is not only a case where two components are in direct contact with each other, but also one A case in which another component above is formed or disposed between two components is also included. In addition, when expressed as “up (up) or down (down)”, it may include the meaning of not only the upward direction but also the downward direction based on one component.

1 is a perspective view of an autonomous driving robot device for working in a multifunctional broiler house according to an embodiment viewed from one side, and FIG. 2 is a perspective view of an autonomous driving robot device for working in a multifunctional broiler house according to an embodiment as viewed from the other side. In the drawings below, the x-axis represents the left and right directions of the self-driving robot device for multi-functional broiler work, the y-axis represents the forward and backward directions of the self-driving robot device for multi-function broiler work, and the z-axis represents the vertical direction of the self-driving robot device for multi-function broiler work. indicate

1 and 2, the self-driving robot device for working in a multifunctional broiler house includes a body 100, a sensor unit 200, a driving unit 300, a carcass collection unit 400, and a rice hull distributing unit ( 500), a rice hull agitator 600, a microbial liquid spraying unit 700, and a thermal imaging camera unit 800.

The sensor unit 200 is disposed on the body 100 . The sensor unit 200 may have a concept including a LIDAR, a thermal imaging camera unit 800, and a rear camera unit 900. The thermal imaging camera unit 800 and the rear camera unit 900 may include a depth camera or the like. The self-driving robot device for multifunctional broiler work according to the embodiment can control the driving unit 300 to create a driving path and avoid obstacles based on information (driving environment information) detected by the sensor unit 200. .

The self-driving robot device for multi-function broiler work can move manually to a preset position upon initial operation, and then autonomously travel based on the driving environment information sensed by the sensor unit 200.

In addition, the dead body may be detected based on the information detected by the thermal imaging camera unit 800, and the dead body may be collected through the body collection unit 400.

The driving unit 300 is disposed on the body 100 . The driving unit 300 may include a driving source such as a wheel and a motor driving the wheel, and control modules controlling the wheel.

The corpse collection unit 400 is disposed in front of the body 100 and serves to collect and store dead bodies.

The body collection unit 400 may include a basket driving unit 410, a basket 420, and a body collection box 430.

The basket driving unit 410 may include a shaft unit 411 disposed along the left-right direction (x). The basket 420 is disposed in front of the shaft portion 411 . And the body collection box 430 is disposed at the rear of the shaft portion 4110. The basket 420 rotates around the shaft 411 by the driving force of the basket driving unit 410 . The body collection box 430 may be located within the rotation radius of the basket 420. After the body collection unit 400 is collected through the basket 420, it can be directly collected into the body collection box 430.

The rice hull spreading unit 500 is disposed on the body 100 and serves to spread the stored rice hull. The rice hull spraying unit 500 sprays rice hull in the left and right directions (x).

The rice husk agitator 600 is disposed in the body 100. The rice husk agitator 600 may be disposed at the rear of the body 100 in the front-back direction (y). In addition, the rice hull stirring unit 600 may be disposed below the rice hull spreading unit 500. The rice husk agitator 600 is disposed on the body 100 to be movable in the vertical direction (z).

FIG. 3 is a view showing the corpse receiving unit 400, and FIG. 4 is a view showing the basket 420 of the corpse receiving unit 400.

Referring to FIGS. 3 and 4 , the shaft portion 411 of the basket drive unit 410 is coupled to the rear end of the basket 420 . As the shaft portion 411 rotates, the basket 420 also rotates. The basket driving unit 410 may include a motor, pulleys 412 and 413 connecting the motor and the shaft unit 411, and a connecting member such as a belt or chain.

The basket 420 may include a bottom portion 421 and side portions 422 disposed on both sides of the bottom portion 421 . The bottom part 421 and the side part 422 form a space for accommodating dead bodies on the inside.

The bottom part 421 may include a first part 421a, a second part 421b, and a third part 421c.

The first part 421a is disposed in front of the second part 421b. The second part 421b is connected to the shaft portion 411 . The third part 421c connects the first part 421a and the second part 421b. The second part 421b and the third part 421c are inclined with respect to the first part 421a.

The left-right width D2 of the second part 421b is smaller than the left-right width D1 of the first part 421a. Also, the left-right width of the body collection box may be larger than the left-right width D2 of the second part 421b and smaller than the left-right width D2 of the first part 421a.

The left-right width D2 of the third part 421c may decrease toward the second part 421b.

5 is a view showing the side of the basket 420.

Referring to FIG. 5 , the side portion 422 may include a fourth part 422a, a fifth part 422b, and a sixth part 422c.

The fourth part 422a and the fifth part 422b are spaced apart from each other in the front-back direction (y), and the sixth part 422c connects the fourth part 422a and the fifth part 422b. The fourth part 422a is disposed in front of the sixth part 422c. The fifth part 422b is disposed behind the sixth part 422c. In general, the fourth part 422a of the side part 422 may be disposed to correspond to the first part 421a of the bottom part 421 . The fifth part 422b of the side part 422 may be disposed to correspond to the second part 421b. The sixth part 422c of the side part 422 may be disposed to correspond to the third part 421c.

The fifth part 422b and the sixth part 422c are inclined to the fourth part 422a. An upper end of the fifth part 422b and an upper end of the sixth part 422c may be disposed stepwise.

6 is a view showing a corpse collection box 430.

Referring to FIG. 6, the body collection box 430 includes a back plate 431, a front plate 432, a bottom plate 433 connecting the back plate 431 and the front plate 432, the back plate 431 and the front plate ( A side plate 434 connecting the 432 may be included. The back plate 431, the front plate 432, the bottom plate 433, and the side plate 434 form a space for accommodating dead bodies on the inside. The top of the front plate 432 is disposed lower than the top of the shaft portion 411 . A shaft portion 411 may be coupled to the front plate 432 . The basket driving unit 410 may be mounted on the side plate 434 . A plurality of holes H may be disposed in the bottom plate 433 . In the process of collecting the dead bodies, foreign substances collected together with the dead bodies may be discharged through the hole (H).

FIG. 7 is a view showing a process of collecting dead carcasses, and FIG. 8 is a view showing an autonomous robot device for working in a multifunctional broiler house for agitating rice hulls after collecting dead carcasses.

5 to 8 , when the shaft portion 411 rotates, the basket 420 rotates together. When the second part 421b and the third part 421c of the bottom part 421 of the basket 420 are referenced, the basket 420 may rotate around the shaft part 411 within a maximum range of 145°. there is.

After checking the temperature of the object through the thermal imaging camera unit 800, if the temperature of the object is lower than the reference value, it is determined as a dead body, and the basket 420 is lowered and the dead body moves forward so that the dead body enters the basket 420. drive When the dead body enters the basket 420, the basket 420 is rotated. Since the body collection box 430 is within the radius of rotation of the basket 420, the dead body in the basket 420 is naturally received directly into the body collection box 430 as the basket 420 rotates.

When the basket 420 rotates, the first part 421a covers the front of the body collection box 430, the second part 421b covers the top of the body collection box 430, and the side portion 422 covers the body collection box 430. ) is positioned to cover both sides of the

As such, the self-driving robot device for multifunctional broiler work determines dead bodies through the thermal imaging camera unit 800, collects the dead bodies in the basket 420 when determined to be dead bodies, and stores them directly in the body collection box 430. There are advantages that can be

Meanwhile, the lowermost end where the blade unit 630 is located may be disposed higher than at least the lowermost end of the driving unit 300 .

9 is a perspective view showing a rice hull spreading unit 500, and FIG. 10 is a view showing a rice hull spreading process.

9 and 10 , the rice hull spreading unit 500 may include a hopper 510, a first roller 520, a second roller 530, and a roller driving unit 540.

The hopper 510 includes an inlet 501 , a first outlet 502 and a second outlet 504 .

The inlet 501 may be disposed above the hopper 510 . The first outlet 502 may be disposed below the left side of the hopper 510 . The second outlet 504 may be disposed below the right side of the hopper 510 . This is to spread the rice hulls stored in the hopper 510 to the left and right sides of the self-driving robot device for multifunctional broiler work.

The bottom surface of the hopper 510 may include a first inclined surface 511 and a second inclined surface 512 .

The first inclined surface 511 may be disposed inclined toward the left and formed up to the first outlet 502 . The second inclined surface 512 serves to guide the rice hull stored in the hopper 510 toward the second outlet 504.

The second inclined surface 512 may be inclined toward the right side and formed up to the second outlet 504 . The second inclined surface 512 serves to guide the rice hull stored in the hopper 510 toward the second outlet 504.

On the other hand, the hopper 510 may include a receiving portion 503 for accommodating a storage portion storing the microbial liquid. The accommodating part 503 is fixed to the sidewall of the hopper 510, and the cover may be selectively opened.

A first roller 520 is disposed at the first outlet 502 . The axial direction of the first roller 520 is disposed in the front-back direction (y).

A second roller 530 is disposed at the second outlet 504 . The axial direction of the second roller 530 is disposed in the front-back direction (y).

The first roller 520 and the second roller 530 are each connected to the roller driving unit 540 .

The rotation direction of the first roller 520 and the rotation direction of the second roller 530 are opposite to each other.

When viewed from the front, when the first roller 520 rotates counterclockwise, the rice hulls accommodated in the hopper 510 may be distributed to the right side of the hopper 510 through the first outlet 502.

When viewed from the front, when the second roller 530 rotates clockwise, rice hulls accommodated in the hopper 510 may be distributed to the left side of the hopper 510 through the second outlet 504 .

As such, since the rice hull is supplied in the left and right directions through the first roller 520 and the second roller 530, the rice hull can be supplied to a place where it is difficult to stir, such as a water line where chickens drink water.

11 is a view showing a rice hull agitator 600.

Referring to FIGS. 8 and 11 , the rice hull agitator 600 may include a frame 610, a rotating shaft 620, a blade unit 630, and a rotating shaft driving unit 640.

Frame 610 is coupled to the body (100). And the frame 610 is movably coupled to the body 100 in the vertical direction (z). The frame 610 has a first surface S1 on which the roller driving unit 540 is mounted, and a second surface S1 disposed above and rearward of the first surface S1 to which nozzles are disposed. It may include a surface (S2). In this case, the first surface S1 and the second surface S2 may be disposed in parallel.

The rotating shaft 620 is rotatably disposed on the frame 610 . The rotating shaft 620 is disposed along the left-right direction (x).

The rotating shaft driving unit 640 serves to rotate the rotating shaft 620 . The rotating shaft driving unit 640 is disposed on the frame 610 and is connected to the rotating shaft 620 . The rotating shaft driving unit 640 may be a motor. The rotating shaft driving unit 640 and the rotating shaft 620 may be connected to the pulleys 601 and 602 through a connecting member such as a belt or chain.

In a state in which the basket 420 rotates to cover the corpse collection box 430, the frame 610 descends and the blade unit 630 rotates to mix the chaff placed on the floor.

12 and 13 are views showing the blade unit 630.

Referring to FIGS. 12 and 13 , the blade unit 630 rotates to directly mix the hard part of the rice hull located outside and the relatively soft part of the rice hull located inside.

The blade unit 630 may include a pair of first blades 631 and a second blade 632 disposed perpendicular to the first blade 631 and coaxially coupled with the first blade 631 .

The first blade 631 includes a first inner portion 631a coupled to the rotating shaft 620, a first outer portion 631b bent forward at one end of the first inner portion 631a, and a first inner portion 631a. It may include a second outer portion 631c bent toward the rear at the other end.

The second blade 632 includes a second inner portion 632a coupled to the rotating shaft 620, a third outer portion 632b bent toward the left at one end of the second inner portion 632a, and a second inner portion 632a. A fourth outer portion 632c bent toward the right at the other end of may be included.

The first blade 631 and the second blade 632 are vertically disposed, the first outer portion 631b and the second outer portion 631c are bent forward and backward, respectively, and the third outer portion 632b and the second outer portion 631c are bent. 4 Since the outer portion 632c is bent backward and forward, respectively, it is possible to more effectively mix the outside and inside of the chaff piled up on the floor.

FIG. 14 is a view showing the microbial liquid spraying unit 700, and FIG. 15 is a view showing the blade unit 630 and the nozzle 720.

Referring to FIGS. 11, 14, and 15 , the microbial liquid spray unit 700 may include a storage unit 710 and a plurality of nozzles 720 connected to the storage unit 710. The storage unit 710 may be disposed inside the hopper 510 .

A plurality of nozzles 720 are disposed along the left-right direction (x). The nozzle 720 is disposed above the blade unit 630 . The nozzle 720 sprays the microbial liquid stored in the storage unit 710 to rice hulls.

While rice hulls are mixed through the blade unit 630, the microbial liquid may be sprayed from the nozzle 720 toward the blade unit 630. The microbial liquid effectively removes ammonia inside the rice hull while stirring the rice hull. The nozzle 720 may be disposed behind the blade unit 630 .

As described above, the self-driving robot device for working in a multifunctional broiler house can perform carcass collection work, rice hull spreading work, rice hull stirring work, and disinfection work together while driving autonomously.

In the above, the self-driving robot device for multifunctional broiler work according to one preferred embodiment of the present invention has been examined in detail with reference to the accompanying drawings.

One embodiment of the present invention described above should be understood as illustrative in all respects and not limiting, and the scope of the present invention will be indicated by the claims to be described later rather than the detailed description above. And it should be construed that all changes or transformable forms derived from the meaning and scope of these claims as well as their equivalent concepts are included in the scope of the present invention.

100: body
200: sensor unit
300: driving unit
400: denial of body collection
410: basket driving unit
411: shaft part
420: basket
421: bottom
421a: first part
421b: second part
421c: third part
422: side
430: body collection box
431: back plate
432: previous board
433: bottom plate
434: side plate
500: chaff spreading unit
510: hopper
520: first roller
530: second roller
540: roller driving unit
600: chaff agitator
610: frame
611: first side
612: second side
620: axis of rotation
630: blade unit
631: first blade
631a: first inner part
631b: first outer part
631c: second outer part
632: second blade
632a: second inner part
631b: third outer part
631c: fourth outer part
640: rotation axis drive unit
700: microbial liquid spray unit
710: storage unit
720: nozzle
800: thermal imaging camera unit

Claims (8)

body;
A sensor unit disposed on the body and
a driving unit for driving the body based on information sensed by the sensor unit;
A corpse collection unit disposed on one side of the body in the front and rear directions;
Rice hull distribution unit disposed on the other side of the body in the front and rear directions;
Rice hull stirring unit disposed below the rice hull spreading unit;
A microbial liquid spraying unit disposed on the other side of the body to spray a microbial liquid; And
It is disposed in front of the body and includes a thermal imaging camera,
The corpse collection unit includes a basket driving unit including a shaft portion disposed along the left and right directions, a basket rotatably coupled to the shaft unit and disposed in front of the shaft unit, and a corpse collection box disposed in the rear of the shaft unit,
If the object captured by the thermal imaging camera is below the reference temperature, the basket driver determines that the object is a corpse, rotates the basket, and transports the corpse to the corpse collection box,
The body collection box includes a back plate, a front plate, a bottom plate connecting the back plate and the front plate, and a side plate connecting the back plate and the front plate,
The basket includes a bottom part and side parts disposed on both sides of the bottom part, and the bottom part connects a first part and a second part connected to the shaft part and the first part and the second part, and the first part Including a third part obliquely connected to the part,
The left-right width of the second part is smaller than the left-right width of the first part, and the left-right width of the body collection box is greater than the left-right width of the second part and smaller than the left-right width of the first part,
The upper end of the front plate is disposed lower than the uppermost end of the shaft part,
When the basket rotates, the first part covers the front of the carcass collection box, the second part covers the upper part of the carcass collection box, and the side parts cover both sides of the carcass collection box. . The method of claim 1, wherein the rice hull stirring unit,
frame;
a rotation shaft rotatably disposed on the frame;
A plurality of blade parts coupled to the rotating shaft; and
A rotational shaft drive disposed on the frame and connected to the rotational shaft to rotate the rotational shaft;
The frame is movably coupled to the body in the vertical direction,
In a state in which the basket rotates to cover the carcass collection box, the frame descends, and the blade part rotates to mix the chaff placed on the floor. According to claim 2,
The blade unit includes a first blade and a second blade disposed perpendicular to the first blade and coaxially coupled with the first blade,
The first blade includes a first inner portion coupled to the rotating shaft, a first outer portion bent forward at one end of the first inner portion, and a second outer portion bent backward at the other end of the first inner portion, ,
The second blade includes a second inner portion coupled to the rotating shaft, a third outer portion bent toward the rear at one end of the second inner portion, and a fourth outer portion bent toward the front at the other end of the second inner portion. Autonomous driving robot device for multifunctional broiler house operation. The method of claim 3, wherein the rice hull spreading unit,
a hopper including an inlet, a first outlet, and a second outlet;
a first roller disposed at the first outlet;
A second roller disposed at the second outlet; and
And a roller driving unit connected to the first roller and the second roller, respectively,
The inlet is located on the upper side of the hopper, the first outlet is disposed below the left side of the hopper, and the second outlet is located below the right side of the hopper;
The axial direction of the first roller and the axial direction of the second roller are disposed in the forward and backward directions, and the first roller and the second roller rotate, respectively, to spread the rice hull contained in the hopper to the left side or rear side of the hopper. Autonomous driving robot device for multi-function broiler farm work. According to claim 4,
The bottom surface of the hopper includes a first inclined surface inclined toward the left and formed up to the first exit and a second inclined surface disposed inclined toward the right and formed up to the second exit. Device. The method of claim 5, wherein the microbial liquid spraying unit,
a storage unit for storing a microbial liquid storage unit disposed in the hopper;
Including a plurality of nozzles connected to the storage unit,
The plurality of nozzles are disposed along the left and right directions, and are disposed above the blade unit to spray the microbial liquid toward the blade unit, wherein the nozzle is disposed behind the blade unit. According to claim 6,
The frame includes a first surface on which the roller driving unit is mounted, and a second surface disposed above the first surface and disposed behind the first surface on which the nozzle is disposed,
The first surface and the second surface are self-driving robot devices for multi-function broiler work that are arranged in parallel. According to claim 7,
The lowermost end at which the blade unit is located is higher than the lowermost end of the driving unit.

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