Chicken disinfection device suitable for stacked cage rearing mode

Abstract

The invention discloses a chicken disinfection device suitable for a stacked cage rearing mode, and aims to solve the limitation of the existing chicken house disinfection technology on disinfection efficiency and directional disinfection and killing capability. The device is composed of a chassis, a laser radar and the like, and a control cabinet and a spraying assembly are installed on the top. The spraying assembly comprises a liquid storage tank, a water pump, an electromagnetic valve, a spray head telescopic rod and an electric push rod, can adapt to cage layers with different heights, can be prevented from colliding with an egg collecting line, and supports disinfection and killing of the whole henhouse and specified cage positions. The device is suitable for the high-density laminated caged chicken coop, can efficiently disinfect the multi-layer laminated caged chicken coop in a large scale, can automatically navigate to a specified cage position for precise disinfection under the condition that a preset path is not needed, and can automatically go to a charging station or be charged when the electric quantity is insufficient, so that the operation is simple and convenient. The disinfection efficiency is greatly improved; the labor cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of chicken house disinfection, and in particular relates to a chicken disinfection device suitable for a stacked cage breeding mode. Background Art

[0002] The density of live poultry in chicken houses is high. Once infected by pathogens, it will cause great losses. Regular large-scale disinfection of chicken farms is the most important part of disease prevention and control. At the same time, after the death of poultry, the bacteria in the muscles and blood will multiply after five hours, forming a huge hidden danger of disease spread. Therefore, taking timely and effective disinfection measures to reduce the spread of pathogens is an important part of ensuring the biosafety of chicken farms. Accurate disinfection of the dead chicken area can greatly save manpower and material resources.

[0003] After searching, the patent with application number 202311157594.2 discloses a chicken house spray disinfection device. The device is mounted on an AGV cart and can automatically travel and work according to a pre-set route, and the height of the nozzle can be adjusted to a certain extent.

[0004] However, the above device has the following problems. 1. The above device can only disinfect the entire chicken house according to the pre-set path, and cannot disinfect the designated cages; 2. The lifting height of the above device is limited, and it cannot adapt to multi-layer stacked cage chicken houses. Therefore, in order to meet the needs of disinfection operations in multi-layer stacked cage chicken houses, it is necessary to establish an intelligent device that can not only perform large-scale and efficient disinfection operations on the entire chicken house, but also perform precise disinfection operations on designated dead chicken cages. Summary of the invention

[0005] In view of the defects existing in the prior art, the present invention provides a spray disinfection device suitable for stacked cage laying hens and egg-breeding hens, which solves the problem that the existing chicken disinfection device cannot adapt to stacked cage chicken houses or the disinfection efficiency is low in this scenario, and at the same time cannot perform accurate disinfection of designated dead chicken cages.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical scheme: a chicken disinfection device suitable for a stacked cage mode, a driving motor for driving wheels is installed on the chassis, the driving motor is equipped with a battery, an automatic charging module is installed under the chassis, and the automatic charging module is connected to the battery. The four wheels are rotatably arranged on both sides of the mobile robot chassis, and a first support plate is fixedly installed on the top of the chassis. The control box of the entire device is fixedly installed on the top of the first support plate, and the disinfection spray assembly is fixedly installed through the mounting seat. The first anti-collision bar and the second anti-collision bar are fixedly installed on the front and rear sides of the mobile robot chassis respectively.

[0007] The spray assembly includes a liquid storage tank connected to the first support plate, wherein the liquid storage tank stores disinfectant. An opening connected to a water inlet of a water pump is provided on one side of the liquid storage tank. The water outlet of the water pump is connected to a hose.

[0008] The mounting base is fixedly connected to the electric push rod. One side of the electric push rod is fixedly connected to multiple nozzle support rods, the nozzle telescopic rod is fixedly connected to the nozzle support rod, and the solenoid valve is fixed on the telescopic module of the telescopic rod. The inlet of the solenoid valve is connected to the hose, and the atomizing nozzle is connected to the outlet of the solenoid valve.

[0009] Preferably, the hose is a coiled structure at the extension and retraction portion of the electric push rod.

[0010] Preferably, the hose is a coiled structure at the telescopic portion of the spray head telescopic rod.

[0011] Preferably, the telescopic part of the electric push rod is fixedly connected to the guide rail.

[0012] Preferably, the radar camera bracket is fixedly connected to the top of the first support plate. The second support plate and the depth camera are fixedly connected to the upper and lower layers of the radar camera bracket in turn. The laser radar is fixedly connected to the top of the second support plate. The mobile robot chassis is equipped with a laser radar and a depth camera, and is connected to the host computer in the control box. After receiving the coordinates of the cage where the dead chickens are located, the mobile robot chassis can accurately reach the location to complete the disinfection work through relevant algorithms. When multiple coordinates to be operated are received, the optimal path is selected through the path planning algorithm, which improves the operating efficiency. It can also navigate and avoid obstacles for the device during large-scale disinfection.

[0013] Preferably, the disinfection device can adjust the telescopic rod of the nozzle to adjust the position of each nozzle to adapt to the number and size of chicken cages in different chicken houses. If the nozzle operates at a fixed height, the area A1 swept by the spray is: A1=2r×v×T (1) Where r is the radius of the circle formed by the spray cone on the plane, v is the speed of the car, and T is the movement time. If the forward speed of the trolley remains unchanged, and the nozzle is mounted on an electric push rod with a reciprocating speed of q and a stroke of l, the center trajectory of the circle can be described as: Where: Amplitude Angular frequency The length of the center motion path of the circle, S2, is: Calculated: Where E(m) is the complete elliptic integral of the first kind, Therefore, the area A2 swept by the circle when the electric push rod is added is: A2=2r×S2 (5) The ratio of the spray swept area in the two cases is: If the vehicle forward speed v = 1m / s, the nozzle reciprocating speed q = 0.05m / s, for small m The Taylor series expansion can be used to approximate μ: The solution is μ≈1.5708 This shows that if the nozzle is mounted on an electric push rod to make it move, its spray area is 1.5708 times that of a fixed nozzle position, increasing the disinfection range.

[0013] Preferably, the laser radar, depth camera, automatic charging module, drive motor, battery, electric push rod, solenoid valve, nozzle telescopic rod and water pump are connected to a control box. The control box is used to control the opening and closing of a single nozzle, the start and stop of the water pump, the lifting and lowering of the electric push rod and the nozzle telescopic rod, the travel of the robot chassis, etc.

[0014] Preferably, the water pump is a diaphragm pump. This type of pump is light and portable. It has high flexibility and can be arranged on a mobile robot chassis with narrow space. It has low energy consumption while meeting pressure requirements. It also generates little noise, which can meet the national noise requirements for chicken disinfection.

[0015] Preferably, the chicken disinfection device suitable for the stacked cage farming mode is equipped with an automatic charging module, which can autonomously go to a charging station or a designated area to charge or add medicine when the power or medicine amount is insufficient or the disinfection operation is completed, thereby greatly saving manpower and improving operation efficiency.

[0016] Compared with the prior art, a spray disinfection device suitable for stacked cage laying hens and laying breeder hens has the following beneficial effects:

[0017] 1. Equipped with a laser radar chassis, it can go to the cages where dead chickens are located for disinfection without laying out routes in advance, saving a lot of manpower and material resources. It can also disinfect the entire chicken house on a large scale without modification, with high work efficiency. When the power or medicine is insufficient, it will automatically go to the charging station or designated area to charge or add medicine. It greatly saves manpower, improves the management efficiency of the chicken farm, and reduces biological risks.

[0018] 2. The electric push rod can avoid obstacles such as doors, egg belts, lamps, etc. in the chicken house, and can also disinfect the upper chicken cages at close range, improving the disinfection effect of the poultry house disinfection equipment. The nozzle telescopic rod can make the disinfection device adapt to the size of different chicken houses and cages. At the same time, during the disinfection process, the nozzle moves up and down according to the set stroke to increase the disinfection spray range. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the structure of the device of the present invention;

[0021] Figure 2 The front view of the device of the present invention

[0022] Figure 3 This is a schematic diagram of the chassis structure of the device of the present invention;

[0023] Figure 4 It is a partial schematic diagram of the spray assembly of the device of the present invention;

[0024] Figure 5 It is a partial schematic diagram of the guide rail connection and nozzle extension of the device of the present invention;

[0025] Figure 6 This is a schematic diagram of the interior of the chassis;

[0026] In the figure: 1. chassis, 101 first support plate, 102 depth camera, 103 laser radar, 104 second support plate, 105 radar camera bracket, 106 control box, 107 automatic charging module, 108 wheel, 109 first anti-collision bar, 110 second anti-collision bar, 111 drive motor, 112 battery, 2 spray assembly, 201 water pump, 202 mounting seat, 203 liquid storage tank, 204 electric push rod, 205 guide rail, 206 nozzle support rod, 207 nozzle telescopic rod, 208 hose, 209 solenoid valve, 210 atomizing nozzle. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0028] The invention provides a chicken sterilizing device suitable for a stacked cage breeding mode.

[0029] Please refer to the attached Figure 1 -Attached Figure 6 In an example of a chicken disinfection device suitable for a stacked cage breeding mode, the present invention proposes the following device, which includes 1. a chassis, 101 a first support plate, 102 a depth camera, 103 a laser radar, 104 a second support plate, 105 a radar camera bracket, 106 a control box, 107 an automatic charging module, 108 wheels, 109 a first anti-collision bar, 110 a second anti-collision bar, 111 a driving motor, 112 a battery, 2. a spray assembly, 201 a water pump, 202 a mounting seat, 203 a liquid storage tank, 204 an electric push rod, 205 a guide rail, 206 a nozzle support rod, 207 a nozzle telescopic rod, 208 a hose, 209 a solenoid valve, and 210 an atomizing nozzle.

[0030] A driving motor 111 for driving wheels 108 is installed on the chassis 1, and the driving motor 111 is equipped with a battery 112. An automatic charging module 107 is installed under the chassis 1, and the automatic charging module 107 is connected to the battery 112. The four wheels 108 are rotatably arranged on both sides of the chassis 1, and the first support plate 101 is fixedly installed on the top. The control box 106 of the entire device is fixedly installed on the top of the first support plate 101, and the disinfection spray assembly 2 is fixedly installed through the first support rod 205. The first anti-collision bar 109 and the second anti-collision bar 110 are fixedly installed on the front and rear sides of the mobile robot chassis respectively.

[0031] The spray assembly 2 includes a liquid storage tank 203 connected to the first support plate 101, and the liquid storage tank 203 stores disinfectant. An opening connected to the water inlet of the water pump 201 is provided on one side of the liquid storage tank 203. The water outlet of the water pump 201 is connected to the hose 208. Further, the mounting seat 202 is fixedly connected to the first support plate 101. The top of the mounting seat 202 is fixedly connected to the electric push rod 208. One side of the electric push rod 208 is fixedly connected to multiple nozzle support rods 206, the nozzle telescopic rod 207 is fixedly connected to the nozzle support rod 206, and the electromagnetic valve 209 is fixed on the telescopic module of the nozzle telescopic rod 207. The inlet of the electromagnetic valve 209 is connected to the hose 208, and the atomizing nozzle 210 is connected to the outlet of the electromagnetic valve 209.

[0032] The chicken disinfection device suitable for the stacked cage breeding mode proposed by the present invention can disinfect the environment in the chicken house more conveniently, with higher efficiency and better disinfection effect; the specific working principle is: at the initial position where the disinfection robot is located, a QR code carrying the height information of different cages in the chicken house is posted, and the depth camera 102 recognizes the QR code, and adjusts the height of the nozzle telescopic rod 207 according to the information contained in the QR code to ensure that each atomizing nozzle 210 can disinfect the center of the chicken cage. When a signal is received that a cage with dead chickens needs to be disinfected. The chassis 1 will start automatically, and through the surrounding environment information provided by the depth camera 102 and the laser radar 103, after the information is processed by the host computer in the control cabinet, it will navigate to the cage that needs to be disinfected. Then the electric push rod 205 will rise to a suitable height. According to the number of cage layers that need to be disinfected, the solenoid valve 209 corresponding to the layer is opened, and the water pump 201 is started. The water pump 201 pumps the disinfectant in the liquid storage tank 203 into the hose 208, and then enters the corresponding opened solenoid valve 209, and finally sprays out from the atomizing nozzle 210 to disinfect the designated area in the chicken house.

[0031] When the entire chicken house needs to be disinfected on a large scale, the chassis 1 will perform large-scale disinfection according to the set path and the surrounding environment information provided by the depth camera 102 and the laser radar 103. At this time, the electric push rod 204 will rise and open all the solenoid valves 209 。 Start the water pump 201, and the water pump 201 pumps the disinfectant in the liquid storage tank 203 into the hose 208, and then enters all the solenoid valves 209, and the liquid is finally sprayed out from the atomizing nozzle 210. At the same time, the atomizing nozzle 210 moves in the vertical direction along the stroke set by the nozzle telescopic rod 207 to increase the coverage of the spray. If there are obstacles such as doors, egg belts, lamps, etc. that are too high to pass through during the disinfection process, the water pump 201 will be turned off and the electric push rod 204 will be lowered. After passing the obstacle, the electric push rod 204 and the water pump 201 will be raised to continue the disinfection operation.

[0031] The spray device 2 and the control box 106 are respectively fixedly mounted on both sides of the top of the first support plate 101 to prevent the droplets from affecting the control circuit and triggering a short circuit during the spray disinfection process. The automatic charging module 107 is fixedly mounted at the bottom of the first support plate 101. When the device is low on power or completes the disinfection operation, it will automatically navigate to the charging station to recharge.

[0032] The radar camera bracket 105 is fixedly connected to the top of the first support plate 101. The second support plate 104 and the depth camera 102 are fixedly connected to the upper and lower layers of the radar camera bracket 105 in turn. The laser radar 103 is fixedly connected to the top of the second support plate 104. The mobile robot chassis is equipped with the laser radar 103 and the depth camera 102. After receiving the coordinates of the cage where the dead chickens are located, through the relevant algorithms, the mobile robot chassis can accurately reach the location to complete the disinfection work without laying the route in advance. When multiple coordinates to be operated are received, the optimal path operation is selected through the path planning algorithm, which improves the operation efficiency. It can also navigate and avoid obstacles for the device during large-scale disinfection. The first anti-collision bar 109 and the second anti-collision bar 110 are fixedly installed on the front and rear sides of the mobile robot chassis respectively. Prevent the device from colliding and causing damage to important parts of the device.

[0033] The hose is coiled at the extension part of the electric push rod. This structure ensures that the extension of the electric push rod can supply sufficient liquid medicine to the solenoid valve, while preventing the excessively long hose from interfering with other mechanisms when the electric push rod is retracted.

[0034] The hose is coiled at the extension part of the nozzle telescopic rod. This structure ensures that the extension of the nozzle telescopic rod can supply sufficient liquid medicine to the solenoid valve, while preventing the excessively long hose from interfering with other mechanisms when the nozzle is retracted.

[0035] By fixing the connecting guide rail 205 on the top of the electric push rod 204, the axial rotation of the extended part of the electric push rod 204 is limited, the stability of the entire device is improved, and the disinfection effect of the atomizing nozzle 210 controlled by the solenoid valve 209 installed on the extended part of the electric push rod to generate droplets is ensured.

[0036] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0037] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A chicken disinfection device suitable for stacked cage breeding mode, characterized in that: include: Chassis (1); Wheels (108) disposed on the chassis; A mounting seat (202) fixed on the chassis (1); An electric push rod (204) fixed on the mounting seat; A plurality of spray head telescopic rods (207) are mounted on the electric push rod (204); A plurality of solenoid valves (209) connected to the plurality of spray head telescopic rods (207); an atomizing nozzle (210) connected to the solenoid valve (209); The spray head telescopic rod (207), the solenoid valve (209) and the atomizing spray head (210) are connected together and installed at different heights of the electric push rod (204).

2. The chicken spray disinfection device suitable for stacked cage laying hens and laying breeder hens according to claim 1 is characterized in that: A driving motor (111) for driving the wheel (108) is installed on the chassis (1), and the driving motor (111) is equipped with a battery (112). An automatic charging module (107) is installed under the chassis (1), and the automatic charging module (107) is connected to the battery (112).

3. The chicken spray disinfection device suitable for stacked cage laying hens and laying breeder hens according to claim 2, characterized in that: A first support plate (101) is fixed on the chassis (1), a liquid storage tank (203) is installed on the first support plate (101), and the liquid storage tank (203) is connected to the solenoid valve (209) and the atomizing nozzle (210) through a water pump (201) and a hose (208).

4. The chicken spray disinfection device suitable for stacked cage laying hens and laying breeder hens according to claim 3, characterized in that: The hose (208) is a coiled structure at the extension and retraction portion of the electric push rod (204).

5. The chicken spray disinfection device suitable for stacked cage laying hens and laying breeder hens according to claim 1, characterized in that: The electric push rod (204) is provided with a nozzle support rod (206), the end of the nozzle support rod (206) is fixed with a nozzle telescopic rod (207), and the solenoid valve (209) and the atomizing nozzle (210) are fixed on the nozzle telescopic rod (207).

6. The chicken spray disinfection device suitable for stacked cage laying hens and laying breeder hens according to claim 5, characterized in that: The hose (208) is a coiled structure at the nozzle telescopic rod (207).

7. The chicken spray disinfection device suitable for stacked cage laying hens and laying breeder hens according to claim 3, characterized in that: A control box (106) is installed on the first support plate (101), a radar camera bracket (105) is fixed on the first support plate (101), and a laser radar (103) and a depth camera (102) are installed on the radar camera bracket (105).

8. The chicken spray disinfection device suitable for stacked cage laying hens and laying breeder hens according to claim 6, characterized in that: The laser radar (103), the depth camera (102), the automatic charging module (107), the drive motor (111), the battery (112), the electric push rod (204), the solenoid valve (210), the nozzle telescopic rod (207) and the water pump (201) are all connected to the control box (106).

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