Pig farm disinfecting and killing robot and using method thereof

Abstract

The invention discloses a pig farm disinfection robot and a using method thereof.The pig farm disinfection robot comprises a control system and a disinfection terminal, the disinfection terminal comprises a pipe body, walking wheels are arranged on the pipe body, a driving system is arranged on the pipe body, and the pipe body is connected with a disinfection medium supply system through a connector and a flexible pipe; a middle inner cavity of the pipe body is used for temporarily storing a disinfection medium supplied by a disinfection medium supply system; a first spray hole is formed in the middle of the pipe body; the use method comprises the following steps: inserting the walking wheels of the disinfection terminal into the entrance of the guide rail, controlling the disinfection terminal to move forwards along the guide rail, and returning along the original path after moving forwards to the terminal point. By the adoption of the scheme, the area below the limiting fences in the pig farm can be efficiently and conveniently killed, the area below the twenty limiting fences needs to be killed only by about three minutes, and the traditional manual killing mode needs about forty minutes; in addition, the limiting fence can be efficiently and easily disinfected and killed under the condition that a disinfection medium is saved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot disinfection treatment, and in particular relates to a pig farm disinfection robot and a use method thereof. Background Art

[0002] Pig farms are often threatened by a variety of diseases, such as African swine fever, swine fever, porcine reproductive and respiratory syndrome (PRRS), porcine epidemic diarrhea, and porcine circovirus disease. In pig farms, pathogens can be spread through air droplets, dust, and other channels. However, there are many loopholes in the management of personnel entry and exit, vehicle disinfection, and material disinfection in pig farms, which cannot effectively cut off the introduction of pathogens. In addition, due to the lack of advanced monitoring equipment and professional technicians, some pig farms are difficult to detect signs in time in the early stages of the disease, resulting in the spread of the disease. At present, many pig farms use manual disinfection and robot disinfection. Manual disinfection consumes a lot of manpower and time, and the labor intensity is quite high. Compared with manual disinfection, robot disinfection has the advantages of low labor intensity and high efficiency, but most of the current disinfection robots are limited to disinfecting pig farm aisles or relatively spacious areas. It is difficult to efficiently and conveniently disinfect some small areas in the pig farm (such as the area under the limit fence). Furthermore, in the actual disinfection process, in addition to disinfecting the ground area below the limit fence, the limit fence itself also needs to be disinfected (the existing method mainly involves manual spraying with a spray gun, which is time-consuming, labor-intensive, and inconvenient to operate). Currently, there is no method that can save disinfectant media while efficiently disinfecting the limit fence itself. Summary of the invention

[0003] At least in order to solve the problems mentioned in the background technology, the present invention provides a pig farm disinfection robot and a method of using the same.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a pig farm disinfection robot, including a control system and a disinfection terminal. The disinfection terminal includes a pipe body, walking wheels are arranged on the pipe body, a driving system is arranged on the pipe body, the pipe body is connected to a disinfection medium supply system through a joint and a flexible pipe, the inner cavity of the pipe body can temporarily store the disinfection medium supplied by the disinfection medium supply system, and a first spray hole is arranged on the pipe body.

[0005] In order to be able to disinfect the area below the limit fence more efficiently and conveniently, a guide rail is also installed at the bottom of the limit fence, and the guide rail is used to cooperate with the running wheels on the pipe body.

[0006] Furthermore, a plurality of limit fences are arranged closely side by side, and guide rails of all the limit fences arranged closely side by side are located on the same linear path.

[0007] In order to save space occupied by the disinfection robot, the guide rail adopts a suspended guide rail, and the walking wheel is fixedly connected to the top of the tube body through a connecting piece. After the walking wheel enters the entrance of the suspended guide rail, the walking wheel fits in the track groove of the guide rail and can move along the track groove.

[0008] Preferably, the first spray hole is installed obliquely downward below the center line of the tube body.

[0009] Furthermore, the guide rail includes an integrally formed top plate, side plates and guide rods, and there are strip gaps between adjacent guide rods, the width of the strip gaps is not less than the outer diameter of the flexible tube, and the guide rods are used to support the walking wheels.

[0010] Preferably, the guide rails are arranged along the width direction of the limiting fence.

[0011] A method for using the aforementioned pig farm disinfection robot includes the following steps: Step 1, insert the walking wheel of the disinfection terminal into the entrance of the guide rail; Step 2: Set the walking speed of the disinfection terminal and the spraying parameters of the disinfectant; Step 3, control the disinfection terminal to move forward along the guide rail, and return to the original path after moving to the end point; Step 4, remove the disinfection terminal, and then follow steps 1-3 to disinfect the area where the next group of limit fences arranged side by side are located.

[0012] Furthermore, the inner cavity of the tube body is divided into two spaces by a partition, a second spray hole is provided on the tube body corresponding to the upper space of the first area of ​​the inner cavity of the tube body, and the upper space of the first area of ​​the inner cavity of the tube body is connected to the gas supply system through a joint and a flexible tube.

[0013] In order to save disinfection media and efficiently and easily disinfect the limiting fence itself, a second method for using the above-mentioned pig farm disinfection robot includes the following steps: Step 11, insert the running wheel of the disinfection terminal into the entrance of the guide rail; Step 12, setting the walking speed of the disinfection terminal, setting the spraying parameters of the disinfection medium; setting the gas supply flow and pressure of the gas supply system; Step 13, control the disinfection terminal to move forward along the guide rail, and return to the original path after moving to the end point. During this process, the gas sprayed from the second nozzle is mixed with part of the sprayed disinfection medium and flows upward to disinfect the limit fence; Step 14, remove the disinfection terminal, and then follow steps 1-3 to disinfect the area where the next group of limit fences arranged side by side are located.

[0014] Beneficial effect: The scheme of the present invention can not only efficiently and conveniently disinfect the area below the limiting pens in the pig farm, but it only takes about three minutes to disinfect the area below twenty limiting pens, while the traditional manual disinfection method takes about forty minutes; and the limiting pens themselves can be efficiently and easily disinfected while saving disinfection media. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of the limit fence corresponding to the pig farm disinfection robot in Example 1 (in use); Figure 2 This is a schematic diagram of the limit fence corresponding to the pig farm disinfection robot in Example 1 (before the disinfection terminal is installed); Figure 3 It is a main direction schematic diagram of the limit fence corresponding to the pig farm disinfection robot in Example 1 (in use state); Figure 4 It is a three-dimensional diagram (partial) of the location of the disinfection terminal in Example 1; Figure 5 It is a bottom view (partial) of the location of the disinfection terminal in Example 1; Figure 6 This is a partial enlarged schematic diagram of the location of the disinfection terminal in Example 1 ( Figure 1 Middle A area); Figure 7 It is a schematic diagram of the disinfection terminal spraying the disinfection medium in Example 1; Figure 8 It is a three-dimensional diagram (partial) of the location of the disinfection terminal in Example 2; Fig. 9 It is a schematic diagram of the disinfection terminal spraying disinfectant medium in Example 2. DETAILED DESCRIPTION

[0016] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application. The terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually a class, and the number of objects is not limited. For example, the first object can be one or more. In addition, the term "and / or" in the specification and claims is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. Example 1

[0017] Combination Figures 1 to 6As shown, a pig farm disinfection robot includes a control system and a disinfection terminal 7 (also referred to as a disinfection actuator), the disinfection terminal 7 includes a tube body 1 (the inner cavity of the tube body 1 includes two independent inner cavity second areas and inner cavity first areas), a walking wheel 2 is arranged on the tube body 1, and a driving system for driving the disinfection terminal 7 to move is arranged on the tube body 1 (in one scheme, the motor of the driving system is installed in the inner cavity second area of ​​the tube body 1, and the motor is connected to the shaft of the walking wheel 2 through a transmission mechanism. The transmission mechanism is arranged in the inner cavity of the tube body 1 and the inner cavity of the connecting piece 15, and the walking wheel 2 is driven to rotate when the motor rotates). The inner cavity of the tube body 1 is connected to the disinfection medium supply system through a joint and a flexible tube. The inner cavity of the tube body 1 can temporarily store the disinfection medium supplied by the disinfection medium supply system. A first spray hole 6 is arranged on the tube body 1 (on the tube wall corresponding to the first area of ​​the inner cavity of the tube body 1), and the first spray hole 6 is installed obliquely downward below the center line of the tube body 1. It also includes a guide rail 4 installed at the bottom of the limit fence 5, and the guide rail 4 is used to cooperate with the walking wheel 2 on the tube body 1. Several limit fences 5 are arranged side by side, and the guide rails 4 of all limit fences 5 arranged side by side are located in the same linear path. The guide rail 4 adopts a suspended guide rail, and the running wheel 2 is fixedly connected to the top of the tube body 1 through a connector (connecting tube). After the running wheel 2 enters the entrance of the suspended guide rail, the running wheel 2 fits in the track groove of the guide rail 4 and can move along the track groove under the driving action of the driving system. The guide rail 4 includes an integrally formed top plate 10, a side plate 11 and a guide rod 12, and a strip seam 13 is provided between adjacent guide rods 12. The guide rod 12 is used to support (match) the running wheel 2, and the guide rail 4 is arranged along the width direction of the limit fence 5. The control system is connected to the driving system and the disinfection medium supply system.

[0018] The method for using the pig farm disinfection robot in this embodiment comprises the following steps: Step 1: insert the running wheel 2 of the disinfection terminal 7 into the entrance of the guide rail 4. The state after insertion is as follows: Figure 3 As shown; Step 2, setting the walking speed of the disinfection terminal 7 and setting the spraying parameters of the disinfection medium; Step 3, control the disinfection terminal 7 to move forward along the guide rail 4, and return to the original path after moving forward to the end point. During this process, the disinfection medium supplied by the disinfection medium supply system enters the first area of ​​the inner cavity of the tube body 1 through the flexible tube and the joint for temporary storage, and the disinfection medium 18 is then sprayed out through the first spray hole 6 on the tube body 1, as shown in FIG. Figure 6 As shown; Step 4, remove the disinfection terminal 7, and then disinfect the area where the next group of limit fences 5 arranged side by side are located according to steps 1-3. Example 2

[0019] A pig farm disinfection robot, referring to Example 1, the main difference between it and Example 1 is that: Figure 8As shown, the first area of ​​the inner cavity of the tube body 1 is divided into two spaces by a partition 9, and a second spray hole 8 is arranged on the tube body 1 corresponding to the upper space of the first area of ​​the inner cavity of the tube body 1, and the upper space of the first area of ​​the inner cavity of the tube body 1 is connected to the gas source supply system through a joint 14 and a flexible tube, and the upper space of the inner cavity of the tube body 1 is used for temporarily storing the gas medium, which also has a disinfection function; the lower space of the first area of ​​the inner cavity of the tube body 1 is used for temporarily storing the disinfection medium (disinfectant) supplied by the disinfection medium supply system, and the lower space of the first area of ​​the inner cavity of the tube body 1 is connected to the disinfection medium supply system through a joint 3 and a flexible tube.

[0020] The method for using the pig farm disinfection robot in this embodiment comprises the following steps: Step 11, insert the walking wheel 2 of the disinfection terminal 7 into the entrance of the guide rail 4; Step 12, setting the walking speed of the disinfection terminal 7, setting the spraying parameters of the disinfection medium; setting the gas supply flow and pressure of the gas supply system; Step 13, control the disinfection terminal 7 to move forward along the guide rail 4, and return to the original path after moving to the end point. In this process, the gas sprayed from the second nozzle 8 is mixed with a small amount of disinfection medium (i.e., a mixture of gas and disinfectant 17) and flows upward to disinfect the limit fence 5. These mixed substances are in a mist form and can be evenly attached to the limit fence and achieve a disinfection effect that meets the requirements, such as Fig. 9 As shown; at the same time, the gas ejected from the second spray hole 8 also forms a barrier to prevent most of the disinfectant from overflowing; Step 14, remove the disinfection terminal 7, and then disinfect the area where the next group of limit fences 5 arranged side by side are located according to steps 1-3.

[0021] Comparative Example: A manually operated conventional drug sprayer (5L backpack electric sprayer) was used for disinfection.

[0022] The solutions in the embodiment and the comparative embodiment were used to disinfect the areas below the same number of limiting pens (one hundred, twenty in each group) in the pig house. The results showed that the disinfection was completed in about thirty minutes using the solutions in embodiment 1 and embodiment 2, including the time for transferring the disinfection terminal, while the disinfection was completed in about three and a half hours using the solution in the comparative embodiment; 12L of disinfectant was required to disinfect all the limiting pens using the solution in embodiment 2, while 25L of disinfectant was required to disinfect all the limiting pens using the solution in the comparative embodiment. The large amount of disinfectant used in the comparative embodiment was mainly due to the large amount of disinfectant wasted on the ground during the spraying process.

[0023] By adopting the scheme of the present invention, not only can the area below the limiting fence in the pig farm be disinfected efficiently and conveniently, but also the limiting fence itself can be disinfected efficiently and easily while saving disinfecting media. The whole operation process is very convenient and easy.

Claims

1. A pig farm disinfection robot, comprising a control system and a disinfection terminal (7), characterized in that: The disinfection terminal (7) comprises a tube body (1), a walking wheel (2) is arranged on the tube body (1), a driving system is arranged on the tube body (1), the tube body (1) is connected to a disinfection medium supply system via a joint and a flexible tube, the inner cavity of the tube body (1) is capable of temporarily storing disinfection medium supplied by the disinfection medium supply system, and a first spray hole (6) is arranged on the tube body (1).

2. The pig farm disinfection robot according to claim 1, characterized in that: It also includes a guide rail (4) installed at the bottom of the limit fence (5), and the guide rail (4) is used to cooperate with the running wheel (2) on the tube body (1).

3. The pig farm disinfection robot according to claim 2, characterized in that: A plurality of limit fences (5) are arranged closely side by side, and the guide rails (4) of all the limit fences (5) arranged closely side by side are located on the same linear path.

4. The pig farm disinfection robot according to claim 1, characterized in that: The guide rail (4) is a suspended guide rail, and the running wheel (2) is fixedly connected to the top of the tube body (1) via a connecting piece. After the running wheel (2) enters the entrance of the suspended guide rail, the running wheel (2) fits in the track groove of the guide rail (4) and can move along the track groove.

5. The pig farm disinfection robot according to claim 1, characterized in that: The first spray hole (6) is installed obliquely downward below the center line of the tube body (1).

6. The pig farm disinfection robot according to claim 5, characterized in that: The guide rail (4) comprises an integrally formed top plate (10), side plates (11) and guide rods (12), and strip-shaped gaps (13) are provided between adjacent guide rods (12). The guide rods (12) are used to support the travel wheels (2).

7. The pig farm disinfection robot according to claim 6, characterized in that: The guide rail (4) is arranged along the width direction of the limiting fence (5).

8. The pig farm disinfection robot according to any one of claims 1 to 7, characterized in that: The inner cavity of the tube body (1) is divided into two spaces by a partition (9); a second spray hole (8) is provided on the tube body (1) corresponding to the upper space of the first part of the inner cavity of the tube body (1); and the upper space of the first part of the inner cavity of the tube body (1) is connected to the gas supply system via a joint and a flexible tube.

9. The method for using the pig farm disinfection robot according to claim 7, characterized in that the steps include: Step 1, inserting the running wheel (2) of the disinfection terminal (7) into the entrance of the guide rail (4); Step 2, setting the walking speed of the disinfection terminal (7) and setting the spraying parameters of the disinfection medium; Step 3, controlling the disinfection terminal (7) to move forward along the guide rail (4), and returning along the original path after moving to the end point; Step 4, remove the disinfection terminal (7), and then disinfect the area where the next group of limit fences (5) arranged side by side are located according to steps 1-3.

10. The method for using the pig farm disinfection robot according to claim 8, characterized in that the steps include: Step 11, inserting the running wheel (2) of the disinfection terminal (7) into the entrance of the guide rail (4); Step 12, setting the walking speed of the disinfection terminal (7), setting the spraying parameters of the disinfection medium; setting the air supply flow rate and pressure of the air supply system; Step 13, controlling the disinfection terminal (7) to move forward along the guide rail (4), and returning to the original path after moving to the end point. During this process, the gas sprayed from the second spray hole (8) is mixed with part of the sprayed disinfection medium and flows upward to disinfect the limit fence (5); Step 14, remove the disinfection terminal (7), and then disinfect the area where the next group of limit fences (5) arranged side by side are located according to steps 1-3.

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