Intelligent cleaning method and cleaning system for farms

Abstract

The present invention discloses an intelligent farm cleaning method. In this method, the farm is divided into n pig pens, with m pigs raised in each pen. Infrared cameras are used to record the movement trajectories of the m pigs and identify whether the pigs are in a standing or lying position. If the infrared camera detects any pig in the pig pen in a standing position for more than 3 seconds, the pig is judged to be in an excretion state. If the infrared camera detects that all m pigs in the pig pen are in a lying position for more than 3 minutes, the cleaning state is activated, thereby achieving intelligent farm cleaning. The present invention also discloses an intelligent farm cleaning system, which is installed on both sides of the pig pen to improve the cleaning quality of the pig pen.

Description

Technical Field

[0001] The present invention relates to a farm cleaning technology, and in particular to an intelligent farm cleaning method and a cleaning system. Background Art

[0002] As pig farming continues to expand in scale and intensify, the environmental pollution it causes is becoming increasingly serious. The increasing number of large-scale farms is also leading to increased levels of fecal pollutants and the difficulty of cleaning the farms.

[0003] Prior art, such as Chinese patent application CN109349125A, discloses a pigpen cleaning device based on spraying and brushing technology. In this patent, a micromotor drives the brush bristles to rotate at high speed, cleaning the floor. Simultaneously, high-speed water jets from the spray holes flush the floor, cleaning the pigpen. However, this prior art cleaning device requires staff to visually inspect the area of the pigpen floor contaminated by excrement to assess pen cleanliness, and then activate the cleaning device to clean the pigpen. This makes it impossible to maintain a satisfactory cleanliness of the pigpen 24 hours a day without supervision. Summary of the Invention

[0004] Based on the above technical problems, the present invention proposes an intelligent cleaning method and cleaning system for a farm to achieve intelligent cleaning of the farm.

[0005] The technical solution of the present invention is achieved as follows:

[0006] An intelligent cleaning method for a farm, characterized in that the cleaning method comprises the following steps:

[0007] Step 1: The farm is divided into n pig pens, each of which houses m pigs. Infrared cameras are used to record the movement trajectories of the m pigs and identify whether the pigs are in a standing or lying position.

[0008] Step 2: The infrared camera detects any pig in the pigpen that is standing in the same position for more than 3 seconds, and then determines that the pig is in the defecation state;

[0009] Step 3: Mark the pig excretion location as the cleaning point P;

[0010] Step 4: If the infrared camera detects that all m pigs in the pigpen are in a lying position and the lying time exceeds 3 minutes, the cleaning state is entered and the cleaning point P is cleaned.

[0011] In the intelligent farm cleaning method of the present invention, in step 3, the number of points to be cleaned P is recorded, and it is determined whether the number of points to be cleaned P exceeds a preset value. If it exceeds the preset value, the cleaning state is entered and multiple points to be cleaned P are cleaned.

[0012] An intelligent cleaning system for a pig farm, characterized in that the cleaning system is installed on both sides of a pigpen and comprises:

[0013] A driving unit, the driving unit includes a first directional driving component and a second directional driving component, the second directional driving component is connected to the first directional driving component, and the second directional driving component includes a transverse moving block;

[0014] The shovel unit includes a connecting assembly and an opening and closing assembly. The opening and closing assembly is installed below the transverse moving block through the connecting assembly.

[0015] The opening and closing assembly includes an upper fulcrum, with two connecting rods hingedly connected to the upper fulcrum as the connecting end, and the other ends of the two connecting rods are provided with hinge blocks, which are fixedly connected to the buckets. The tops of the two buckets are provided with sector gears, and the two sector gears are meshed. One of the buckets is provided with a drive cylinder, which is used to control the opening or closing of the two buckets;

[0016] The cleaning unit includes a cleaning assembly and a support assembly. The cleaning assembly includes a main frame, which is installed below the transverse moving block. The main frame has a rectangular structure, and the support assembly is installed at the four corners of the main frame. A cleaning brush is provided at the bottom of the main frame for cleaning the pigpen floor. The support assembly is used to adjust the contact distance between the cleaning brush and the pigpen floor.

[0017] In the intelligent cleaning system for farms of the present invention, the connecting component includes a connecting frame, which is installed below the transverse moving block through a control cylinder, and the opening and closing component is installed below the connecting frame, and the entire shovel unit is moved in the vertical direction below the transverse moving block through the control cylinder, wherein the cleaning unit moves in the vertical direction below the transverse moving block together with the opening and closing component.

[0018] In the intelligent cleaning system for pig farms of the present invention, a water injection chamber is provided on the top of the main frame, which is connected to an external water pipe for spraying water to clean the bottom surface of the pig pen.

[0019] Blades are arranged inside the main frame and connected to the driving motor inside the main frame. A plurality of water injection pipes are arranged below the blades and connected to the water injection cavity. The water flow in the water injection cavity is divided into a plurality of thin streams through the plurality of water injection pipes.

[0020] In the intelligent cleaning system for farms of the present invention, pressure sensors are provided on both sides of the connection frame, and the pressure sensors are connected to the upper support point.

[0021] When the bucket is filled with feces, the above fulcrum becomes the active point, causing the entire opening and closing assembly to shift downward, and the signal value fed back by the pressure sensor is used to adjust the amount of water injected into the water injection chamber at a time.

[0022] In the intelligent cleaning system for farms of the present invention, the support assembly includes a suspension, which is hinged at the four corners of the main frame. The other end of the suspension is also connected to a first cantilever, which is connected to a second cantilever. The other end of the second cantilever is provided with a support suction cup, which is in contact with the pigpen floor. The contact distance between the cleaning brush and the pigpen floor is adjusted by the first cantilever and the second cantilever.

[0023] In the intelligent cleaning system for farms of the present invention, the first direction drive component includes four supporting legs, each of which is fixedly connected to a positioning block, a first guide rod is connected between two longitudinally distributed positioning blocks, a first ball screw is provided on one side of the first guide rod, the first ball screw is rotatably connected to the two longitudinally distributed positioning blocks, a first drive motor is provided on the outer side of the two longitudinally distributed positioning blocks, and the output shaft of the first drive motor is connected to the first ball screw.

[0024] In the intelligent cleaning system for farms of the present invention, the second direction driving assembly includes two longitudinal moving blocks, the longitudinal moving block is slidably connected to the first guide rod and cooperates with the first ball screw, a second guide rod is provided between the two longitudinal moving blocks, a second ball screw is provided below the second guide rod, the second ball screw is rotatably connected to the longitudinal moving block, a transverse moving block is slidably connected to the second guide rod, and the transverse moving block cooperates with the second ball screw,

[0025] Among them, a second drive motor is arranged on the outside of the longitudinal moving block, and the output shaft of the second drive motor is connected to the second ball screw, which is used to control the sliding of the transverse moving block on the second guide rod. Through the cooperation of the first drive motor and the second drive motor, the shoveling unit and the cleaning unit are moved to any position in the pigpen.

[0026] In the intelligent cleaning system for farms of the present invention, an identification unit is provided on the lateral moving block, which is used to identify whether the feces are in pieces of wet feces. If the feces are not in pieces of wet feces, the first drive motor and the second drive motor are controlled during the cleaning process to make the cleaning unit swing left and right and forward and backward to improve the cleaning quality.

[0027] The intelligent farm cleaning method and cleaning system of the present invention have the following beneficial effects:

[0028] The present invention uses an infrared camera to record the activity trajectory of live pigs and identify whether the live pigs are in a standing or lying position; and then determines whether to perform cleaning, thereby realizing intelligent cleaning of the farm. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a flowchart of the intelligent cleaning method for farms of the present invention;

[0030] Figure 2 This is an analysis block diagram of the intelligent cleaning method for farms of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of the intelligent breeding farm of the present invention;

[0032] Figure 4 It is a schematic structural diagram of the cleaning system of the present invention;

[0033] Figure 5 This is a structural diagram of the shoveling unit of the present invention;

[0034] Figure 6 This is a schematic structural diagram of the shovel unit from another angle of the present invention;

[0035] Figure 7 This is a schematic structural diagram of the shovel unit from another angle of the present invention;

[0036] Figure 8 It is a structural schematic diagram of the cleaning unit of the present invention;

[0037] Figure 9 This is a schematic structural diagram of the cleaning unit of the present invention from another angle;

[0038] Figure 10 This is an analysis block diagram of the identification unit of the present invention;

[0039] The reference numerals are as follows: 100-cleaning system, 10-drive unit, 11-first direction drive assembly, 111-support leg, 112-positioning block, 113-first guide rod, 114-first ball screw, 115-first drive motor, 12-second direction drive assembly, 121-longitudinal moving block, 122-second guide rod, 123-second ball screw, 124-lateral moving block, 125-second drive motor, 20-shovel unit, 21-connecting assembly, 211-connecting frame, 212-pressure Force sensor, 22-opening and closing assembly, 221-upper fulcrum, 222-connecting rod, 223-driving cylinder, 224-hinge block, 225-bucket, 226-sector gear, 227-shovel wall, 228-shovel head, 30-cleaning unit, 31-cleaning assembly, 311-main frame, 312-water injection chamber, 313-blade, 314-water injection pipe, 315-cleaning brush, 32-support assembly, 321-suspension, 322-first cantilever, 323-second cantilever, 324-support suction cup, 40-identification unit. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0041] This type of cleaning device in the prior art also requires staff to evaluate the cleanliness of the pen by visually inspecting the area of the pigpen floor contaminated by excrement, and then start the cleaning device to clean the pigpen. This cannot achieve 24-hour unattended operation while still maintaining a good cleanliness of the pigpen. Therefore, the present invention proposes an intelligent cleaning method for farms. Example 1

[0042] like Figures 1 to 2 As shown, the intelligent farm cleaning method of this embodiment includes the following steps:

[0043] Step 1: The farm is divided into n pig pens, each of which houses m pigs. Infrared cameras are used to record the activity trajectories of the m pigs and identify whether the pigs are in a standing or lying position.

[0044] Study the target behaviors of pigs. Pigs standing still usually defecate or urinate, and pigs lying down or flat on the ground usually rest.

[0045] Step 2: The infrared camera detects any pig in the pigpen that is standing in the same position for more than 3 seconds, and then determines that the pig is in the defecation state;

[0046] Step 3: Mark the pig excretion location as the cleaning point P;

[0047] Step 4: The infrared camera detects that the m pigs in the pigpen are all in a lying position and the lying time exceeds 3 minutes, then the cleaning state is entered and the cleaning point P is cleaned.

[0048] Since m pigs are raised in a single pigpen, each pig has different living habits, and it is difficult to keep all the pigs in a lying position for more than 3 minutes.

[0049] Furthermore, if Figure 2 As shown, in step 3, the number of points P to be cleaned is recorded, namely, points P1, P2, P3, P4, P5, P6, etc., and it is determined whether the number of points P to be cleaned exceeds a preset value. If so, the cleaning state is entered to clean multiple points P to be cleaned. This allows the pigpen to be kept clean 24 hours a day without any supervision. Example 2

[0050] With reference to the above embodiment, this embodiment is further disclosed. The body shapes of pigs at different growth stages vary greatly. It is easy to misjudge whether a pig is standing or lying down by relying solely on an infrared camera. Figure 3 As shown in the figure, the intelligent breeding farm is divided into multiple pig pens A1, A2, B1, B2, C1, C2, D1, and D2. Pigs in the nursery, growing, and fattening stages are kept in the pig pens, and an infrared camera is installed above each pig pen to identify whether the pigs are in a standing or lying position, thereby improving the accuracy of identification.

[0051] Among them, each pigpen is equipped with a drainage ditch, and multiple drainage ditches are connected to the main drainage ditch. The ground of the pigpen is inclined, so that the urine in the pigpen can flow into the drainage ditch and finally into the main drainage ditch.

[0052] During the breeding season, the doors and windows of the farm are kept closed. Fans are installed at both ends of the intelligent farm for vertical mechanical ventilation. The fans are turned on daily (07:00 on, 22:00 off) according to the farm's temperature. Wet curtains are installed on both sides of the intelligent farm. When the farm temperature is high, the curtains remain open to ensure the healthy growth of the pigs.

[0053] like Figures 4 to 9 As shown, this embodiment further discloses an intelligent cleaning system for a pig farm. The cleaning system 100 is installed on both sides of the pig pen and includes a driving unit 10 , a shoveling unit 20 and a cleaning unit 30 .

[0054] like Figure 4 As shown, the drive unit 10 includes a first direction drive component 11 and a second direction drive component 12. The first direction drive component 11 includes four support legs 111, and the length of the support legs 111 is adjusted according to the actual use height of the pigpen. A positioning block 112 is fixedly connected to each of the support legs 111, and a first guide rod 113 is connected between the two longitudinally distributed positioning blocks 112. A first ball screw 114 is provided on one side of the first guide rod 113, and the first ball screw 114 is rotatably connected to the two longitudinally distributed positioning blocks 112. A first drive motor 115 is provided on the outside of the two longitudinally distributed positioning blocks 112, and the output shaft of the first drive motor 115 is connected to the first ball screw 114.

[0055] The second directional drive assembly 12 includes two longitudinal moving blocks 121, which are slidably connected to the first guide rod 113 and engage the first ball screw 114. A second guide rod 122 is disposed between the two longitudinal moving blocks 121, and a second ball screw 123 is disposed below the second guide rod 122 and rotationally connected to the longitudinal moving blocks 121. A transverse moving block 124 is slidably connected to the second guide rod 122 and engages the second ball screw 123. A second drive motor 125 is disposed outside the longitudinal moving blocks 121, and the output shaft of the second drive motor 125 is connected to the second ball screw 123 to control the sliding movement of the transverse moving blocks 124 on the second guide rod 122. The shoveling unit 20 and the cleaning unit 30 are mounted below the transverse moving block 124. The first and second drive motors 115 and 125 cooperate to move the shoveling unit 20 and the cleaning unit 30 to any position in the pigpen.

[0056] like Figures 5 to 7 As shown, the shoveling unit 20 includes a connecting assembly 21 and an opening and closing assembly 22. The connecting assembly 21 includes a connecting frame 211, which is mounted below the transverse moving block 124 via a control cylinder (not shown). The opening and closing assembly 22 is mounted below the connecting frame 211 and uses the control cylinder to move the entire shoveling unit 20 vertically below the transverse moving block 124.

[0057] The opening and closing assembly 22 includes an upper fulcrum 221, which is installed on both sides of the connecting frame 211. The upper fulcrum 221 is hinged with two connecting rods 222 at the connecting end. The other ends of the two connecting rods 222 are each provided with a hinge block 224, and the hinge block 224 is fixedly connected to the bucket 225. The top of each of the two buckets 225 is provided with a fan gear 226, and the two fan gears 226 are meshed. One of the buckets 225 is provided with a driving cylinder 223, which is used to control the opening and closing of the two buckets 225. The bucket 225 is provided with shovel walls 227 on both sides of the end away from the hinge block 224, and a shovel head 228 is provided between the two shovel walls 227. The shovel head 228 has an oblique structure. When the two buckets 225 are closed together, the feces on the bottom surface of the pigpen is shoveled into the bucket 225.

[0058] like Figures 8 and 9As shown, the cleaning unit 30 includes a cleaning assembly 31 and a support assembly 32. The cleaning assembly 31 includes a main frame 311, which is mounted below the transverse movable block 124 and moves vertically below the transverse movable block 124 along with the shovel unit 20. The main frame 311 has a rectangular structure, with support assemblies 32 mounted at its four corners. A water injection chamber 312 is located at the top of the main frame 311. This chamber is connected to an external water pipe and is used to spray water to clean the underside of the pigpen. Blades 313 are located within the main frame 311 and are connected to a drive motor within the main frame. Below the blades 313 are multiple water injection pipes 314, several of which are connected to the chamber 312. These pipes 314 divide the water flow from the chamber 312 into several smaller streams. A cleaning brush 315 is located at the bottom of the main frame 311 and is connected to the blades 313. When the driving motor drives the blade 313 to rotate, it also drives the cleaning brush 315 to rotate. Among them, the support assembly 32 is used to adjust the contact distance between the cleaning brush 315 and the pigpen ground.

[0059] The support assembly 32 includes a suspension 321, which is hinged at the four corners of the main frame 311. The other end of the suspension 321 is also connected to the first cantilever 322, and the first cantilever 322 is connected to the second cantilever 323. The other end of the second cantilever 323 is provided with a support suction cup 324, which is in contact with the pigpen floor. The contact distance between the cleaning brush 315 and the pigpen floor is adjusted by the first cantilever 322 and the second cantilever 323.

[0060] In this embodiment, an infrared camera identifies whether a pig is standing or lying down and marks multiple points P to be cleaned. The first and second drive motors 115 and 125 are controlled to move the shoveling unit 20 and cleaning unit 30 directly above the points P to be cleaned. A control cylinder below the connecting frame 211 adjusts the vertical distance between the shoveling unit 20 and cleaning unit 30 and the pig feces. Subsequently, the drive cylinder 223 controls the closing of the two scooping buckets 225, scooping feces from the pigpen floor into the buckets 225. The drive motor then drives the cleaning brush 315 to remove any remaining feces. During this cleaning process, the water injection chamber 312 and water injection pipe 314 spray water onto the pigpen floor. The support assembly 32 adjusts the contact distance between the cleaning brush 315 and the pigpen floor to improve cleaning quality. Simultaneously, as the cleaning brush 315 rotates, the blades 313 rotate with it, eliminating odors from the pigpen floor.

[0061] Because pigs' diets and physical conditions vary, the feces at each cleaning point P are also in different states, primarily classified as dry feces and moist feces. Moist feces are more likely to adhere to the pigpen floor than dry feces. Therefore, when cleaning moist feces, a larger amount of water needs to be injected into the water injection chamber 312. If the amount of water injected remains the same each time feces is cleaned, the pigpen floor will become even more moist when cleaning dry feces, breeding bacteria and affecting the health of the pigs.

[0062] Furthermore, if Figure 5 As shown, pressure sensors 212 are installed on both sides of the connection frame 211 and are connected to the upper support point 221. When the bucket 228 is filled with feces, the upper support point 221 becomes the active point, and the entire opening and closing assembly 22 deflects downward. Because wet feces weighs significantly more than dry feces, the signal value fed back by the pressure sensor 212 is used to adjust the amount of water injected into the water injection chamber 312 during cleaning, preventing excessive moisture in the pigpen and affecting the health of the pigs.

[0063] In this embodiment, the water injection chamber 312 is set in the middle of the main frame 311. The wet feces are divided into wet feces in pieces and wet feces in loose pieces. When cleaning wet feces in loose pieces, the cleaning effect is not good. Figure 4 and Figure 10 As shown, a recognition unit 40 is provided on the transverse moving block 124 to identify whether the feces is a piece of wet feces. If the feces is not a piece of wet feces, the first drive motor 115 and the second drive motor 125 are controlled during the cleaning process to swing the water injection chamber 312 left and right and back and forth to improve the cleaning quality.

[0064] Furthermore, the recognition unit 40 is a light sensor that emits light to the wet feces, identifies whether the reflective area is in a sheet or not, and further identifies whether it is wet feces in a sheet.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent farm cleaning system using an intelligent farm cleaning method, characterized in that: The cleaning method comprises the following steps: Step 1: The farm is divided into n pig pens, each of which houses m pigs. Infrared cameras are used to record the movement trajectories of the m pigs and identify whether the pigs are in a standing or lying position. Step 2: The infrared camera detects any pig in the pigpen that is standing in the same position for more than 3 seconds, and then determines that the pig is in the defecation state; Step 3: Mark the pig excretion location as the cleaning point P; Step 4: If the infrared camera detects that all m pigs in the pigpen are in a lying position and the lying time exceeds 3 minutes, the cleaning state is started and the cleaning point P is cleaned. The cleaning system is installed on both sides of the pigpen and includes: A driving unit, the driving unit includes a first directional driving component and a second directional driving component, the second directional driving component is connected to the first directional driving component, and the second directional driving component includes a transverse moving block; The shovel unit includes a connecting assembly and an opening and closing assembly. The opening and closing assembly is installed below the transverse moving block through the connecting assembly. The opening and closing assembly includes an upper fulcrum, with two connecting rods hingedly connected to the upper fulcrum as the connecting end, and the other ends of the two connecting rods are provided with hinge blocks, which are fixedly connected to the buckets. The tops of the two buckets are provided with sector gears, and the two sector gears are meshed. One of the buckets is provided with a drive cylinder, which is used to control the opening or closing of the two buckets; The cleaning unit includes a cleaning assembly and a support assembly. The cleaning assembly includes a main frame, which is installed below the transverse moving block. The main frame is a rectangular structure, and the support assembly is installed at the four corners of the main frame. A cleaning brush is provided at the bottom of the main frame for cleaning the pigpen floor. The support assembly is used to adjust the contact distance between the cleaning brush and the pigpen floor. The connecting assembly includes a connecting frame, which is installed below the transverse moving block through a control cylinder. The opening and closing assembly is installed below the connecting frame, and the entire shovel unit is moved in the vertical direction below the transverse moving block through the control cylinder, wherein the cleaning unit moves in the vertical direction below the transverse moving block together with the opening and closing assembly. The top of the main frame is provided with a water injection cavity which is connected to an external water pipe and is used to spray water to clean the bottom surface of the pig pen. The main frame is provided with blades inside, which are connected to the driving motor inside the main frame. A plurality of water injection pipes are provided below the blades, and a plurality of water injection pipes are connected to the water injection cavity. The water flow in the water injection cavity is divided into a plurality of thin streams through the plurality of water injection pipes. Pressure sensors are provided on both sides of the connection frame and are connected to the upper support point. When the bucket is filled with feces, the above fulcrum becomes the active point, causing the entire opening and closing assembly to shift downward, and the signal value fed back by the pressure sensor is used to adjust the amount of water injected into the water injection chamber at a time.

2. The intelligent cleaning system for farms according to claim 1, characterized in that: The support assembly includes a suspension, which is hinged at the four corners of the main frame. The other end of the suspension is also connected to a first cantilever, which is connected to a second cantilever. The other end of the second cantilever is provided with a support suction cup, which is in contact with the pigpen floor. The contact distance between the cleaning brush and the pigpen floor is adjusted by the first cantilever and the second cantilever.

3. The intelligent cleaning system for farms according to claim 1, characterized in that: The first direction drive assembly includes four supporting legs, each of which is fixedly connected to a positioning block, a first guide rod is connected between two longitudinally distributed positioning blocks, a first ball screw is provided on one side of the first guide rod, the first ball screw is rotatably connected to the two longitudinally distributed positioning blocks, a first drive motor is provided on the outer side of the two longitudinally distributed positioning blocks, and the output shaft of the first drive motor is connected to the first ball screw.

4. The intelligent cleaning system for farms according to claim 3, characterized in that: The second direction driving assembly includes two longitudinal moving blocks, the longitudinal moving blocks are slidably connected to the first guide rod and cooperate with the first ball screw, a second guide rod is provided between the two longitudinal moving blocks, a second ball screw is provided below the second guide rod, the second ball screw is rotatably connected to the longitudinal moving block, a transverse moving block is slidably connected to the second guide rod, and the transverse moving block cooperates with the second ball screw, Among them, a second drive motor is arranged on the outside of the longitudinal moving block, and the output shaft of the second drive motor is connected to the second ball screw, which is used to control the sliding of the transverse moving block on the second guide rod. Through the cooperation of the first drive motor and the second drive motor, the shoveling unit and the cleaning unit are moved to any position in the pigpen.

5. The intelligent cleaning system for farms according to claim 4, characterized in that: The lateral moving block is provided with an identification unit, which identifies whether the feces are in a piece and wet. If the feces are not in a piece and wet, the first drive motor and the second drive motor are controlled during the cleaning process to make the cleaning unit swing left and right and forward and backward to improve the cleaning quality.

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