An inspection robot for chicken coop management

Abstract

The present invention belongs to the technical field of chicken coop breeding, and specifically refers to a patrol robot for chicken coop management, including an electric patrol vehicle, a chute, a residual food barrel, a clamping type aggregate mechanism and a counterflush type waste cleaning mechanism. The chute is arranged on the bottom wall of the electric patrol vehicle, and the chute is arranged with three open sides. The residual food barrel is arranged on the upper wall of the electric patrol vehicle, and the residual food barrel is a cavity with openings at both ends. The clamping type aggregate mechanism includes a pushing mechanism, a lifting mechanism, a waste detection mechanism, a food shoveling mechanism and a marking mechanism. The present invention provides a patrol robot for chicken coop management that can detect the concentration of harmful substances absorbed inside the feed remaining in the chicken coop esophagus, facilitate the cleaning of the feces adhered to the corresponding chicken cages according to the detected information, and can filter out the harmful substances accumulated inside the chicken coop.

Description

Technical Field

[0001] The present invention belongs to the technical field of chicken coop breeding, and specifically refers to an inspection robot for chicken coop management. Background Art

[0002] A chicken coop refers to a place where chickens inhabit. According to the breeding objects, there are core chicken coops, breeding chicken coops, brooding chicken coops, growing chicken coops, laying hen coops, broiler coops, environmentally safe livestock and poultry coops, etc. According to the breeding methods: flat breeding coops, cage breeding coops, free-range coops and cage breeding coops.

[0003] At present, the existing inspection robots for chicken coop management have the following problems:

[0004] The existing inspection robots for multi-layer cage-raised laying hens do not have the ability to detect the concentration of harmful substances absorbed inside the residual feed in the chicken coop esophagus, so they cannot clean the chicken cages with more adhered feces, resulting in the continuous increase of the concentration of harmful substances aggregated inside the chicken coop, and further affecting the feeding effect of the feed on the chickens. Therefore, it cannot meet the current usage requirements of the inspection robots for chicken coop management. Summary of the Invention

[0005] In view of the above situation, to overcome the defects of the prior art, this solution provides an inspection robot for chicken coop management that can detect the concentration of harmful substances absorbed inside the residual feed in the chicken coop esophagus, facilitate the cleaning of the feces adhered to the corresponding chicken cages according to the detected information, and can filter out the harmful substances aggregated inside the chicken coop.

[0006] The technical solution adopted in this solution is as follows: An inspection robot for chicken coop management proposed in this solution includes an electric inspection vehicle, a chute, a residual food barrel, a clamping type aggregate mechanism and a counterflush type waste cleaning mechanism. The chute is arranged on the bottom wall of the electric inspection vehicle, and the chute is open on three sides. The residual food barrel is arranged on the upper wall of the electric inspection vehicle, and the residual food barrel is a cavity with openings at both ends. The clamping type aggregate mechanism includes a pushing mechanism, a lifting mechanism, a waste measuring mechanism, a food shoveling mechanism and a marking mechanism. The pushing mechanism is arranged on the side wall of the residual food barrel, the lifting mechanism is arranged at the end of the pushing mechanism away from the residual food barrel, the waste measuring mechanism is arranged between the electric inspection vehicle and the residual food barrel, the food shoveling mechanism is arranged on the side of the lifting mechanism away from the pushing mechanism, and the marking mechanism is arranged between the residual food barrel and the pushing mechanism. The counterflush type waste cleaning mechanism includes a flushing mechanism and a filtering mechanism. The flushing mechanism is arranged on the upper wall of the lifting mechanism, and the filtering mechanism is arranged on the upper wall of the residual food barrel.

[0007] As a further optimization of the solution in this case, the pushing mechanism includes a guiding sleeve, a guiding column, a pushing electromagnet, a pushing frame, an annular magnet and a reset spring. The guiding sleeve is arranged on the side wall of the food residue barrel, and the guiding sleeves are arranged oppositely. The guiding column is slidably arranged at one end of the guiding sleeve away from the food residue barrel. The pushing electromagnet is arranged on the side wall of the food residue barrel outside the guiding column. The pushing frame is arranged on one side of the guiding column away from the guiding sleeve. The annular magnet is arranged on the side wall of the pushing frame outside the guiding column. The reset spring is arranged between the food residue barrel and the pushing frame. The lifting mechanism includes a lifting rod, a lifting slider, a lifting spring, a lifting electromagnet and a sliding magnet. The lifting rod is arranged between the upper wall and the bottom wall of one end of the pushing frame away from the guiding column. The lifting slider is slidably arranged outside the lifting rod. The lifting spring is arranged between the upper wall of the pushing frame outside the lifting rod and the upper wall of the lifting slider. The lifting electromagnet is arranged on the bottom wall of the pushing frame outside the lifting rod. The sliding magnet is arranged on the bottom wall of the lifting slider outside the lifting rod. The lifting electromagnet and the sliding magnet are arranged oppositely. The waste detection mechanism includes a copper mesh barrel, a heat preservation partition board, a heating barrel, a heating coil, a metal rod, a heat conducting copper rod, a one-way exhaust valve and a gas sensor. The copper mesh barrel is arranged on the inner wall of the food residue barrel. The heat preservation partition boards are symmetrically arranged on the inner wall of the food residue barrel on both sides of the copper mesh barrel. The heating barrel is arranged on the inner wall of the electric inspection vehicle below the food residue barrel. The metal rod is arranged on the inner wall of the heating barrel. The heating coil is arranged on the inner wall of the heating barrel outside the metal rod. The heat conducting copper rod penetrates through the food residue barrel and is arranged between the inside of the copper mesh barrel and the heating barrel. The one-way exhaust valve is communicated and arranged on one side of the heat preservation partition board away from the copper mesh barrel. The gas sensor is arranged on the side wall of the food residue barrel. The detection end of the gas sensor penetrates through the food residue barrel and is arranged inside the copper mesh barrel. The food shoveling mechanism includes a food shoveling barrel, a suction pump, a feeding pipe, a telescopic pipe and a suction box. The food shoveling barrel is arranged on one side of the lifting slider away from the pushing frame. The food shoveling barrel is a cavity with openings at both ends. The suction pumps are symmetrically arranged on one side of the food residue barrel. The discharging end of the suction pump penetrates through and is arranged inside the copper mesh barrel. The feeding pipe penetrates through and is arranged on the inner wall of the bottom of the pushing frame. One end of the feeding pipe away from the pushing frame is arranged at the suction end of the suction pump. The telescopic pipe penetrates through and is arranged inside the food shoveling barrel. One end of the telescopic pipe away from the food shoveling barrel is communicated with the feeding pipe. The suction box is communicated and arranged at one end of the telescopic pipe away from the feeding pipe. The suction box is arranged with an opening at one end. There is a distance between the suction box and the bottom wall of the food shoveling barrel. The marking mechanism includes a marking electromagnet, a marking magnetic rod, a limiting plate, a limiting spring and a pigment block. The marking electromagnet is arranged on the side wall of the food residue barrel inside the reset spring. The marking magnetic rods are symmetrically arranged on the inner walls at both ends of the pushing frame. The limiting plate is arranged at one end of the marking magnetic rod away from the pushing frame. The limiting spring is arranged between the pushing frame outside the marking magnetic rod and the limiting plate. The pigment block is arranged on one side of the marking magnetic rod close to the limiting plate. The limiting spring is in a compressed state. One side of the marking magnetic rod away from the pigment block is attached to the marking electromagnet.

[0008] During use, slide rails are pre-laid on the ground on both sides of the chicken coop. The electric inspection vehicle is placed on the slide rails through the chute. The wheels of the electric inspection vehicle are in contact with the ground. The electric inspection vehicle moves by the frictional driving force generated between the rotating wheels and the ground. The electric inspection vehicle moves linearly along the slide rails through the chute. In the initial state, the return spring is set in a compressed state, and the guide post retracts into the inside of the guide sleeve. Each row of chicken coops is divided into multiple layers, and each layer of chicken coop is respectively equipped with an esophagus. The height of the feeding shovel cylinder is adjusted to collect the remaining feed inside the esophagus. The normal state of the lifting spring is set to be extended. At this time, the lifting slider is located outside the bottom wall of the lifting rod, and the distance between the lifting electromagnet and the sliding magnet is the minimum value. When the lifting electromagnet is energized to generate magnetism, the lifting electromagnet and the sliding magnet are set with the same pole. The lifting electromagnet pushes the sliding magnet through the repulsive force. The sliding magnet drives the lifting slider to slide up along the lifting rod by the deformation of the lifting spring. The lifting slider drives the feeding shovel cylinder to rise above the esophagus at the bottom layer of the chicken coop. Subsequently, the pushing electromagnet is energized to generate magnetism. The pushing electromagnet and the annular magnet are set with the same pole. The pushing electromagnet is fixed on the side wall of the residual food cylinder and pushes the annular magnet through the repulsive force. The annular magnet drives the pushing frame to approach the chicken coop by the deformation of the return spring. The guide post extends out of the inside of the guide sleeve. The pushing frame drives the feeding shovel cylinder to insert into the chicken coop through the lifting rod and the lifting slider. The lifting electromagnet is powered off and demagnetized. The lifting spring elastically resets to drive the feeding shovel cylinder to fit against the bottom wall of the esophagus in the chicken coop. During the walking process of the electric inspection vehicle, the feeding shovel cylinder is driven to slide along the inner wall of the esophagus. The remaining feed inside the esophagus is shoveled into the feeding shovel cylinder. The suction pump sucks the remaining feed that enters the feeding shovel cylinder into the telescopic tube through the suction box. The telescopic tube pumps the remaining feed into the copper mesh cylinder through the feed pipe for storage.

[0009] Preferably, the flushing mechanism includes a flushing pump, a flushing hose and a flushing nozzle. The flushing pump is arranged on the upper wall of the pushing frame. The flushing hose is arranged at the air outlet end of the flushing pump. One end of the flushing hose far from the flushing pump is arranged on the upper wall of the telescopic tube. The flushing nozzle is communicatively arranged on one side of the flushing hose close to the telescopic tube. The filtering mechanism includes a suction pump, an exhaust pipe, an arc tube, a suction port and an activated carbon adsorption layer. The suction pump is arranged on the upper wall of the residual food cylinder. The exhaust pipe is communicatively arranged between the exhaust end of the suction pump and the residual food cylinder. The arc tube is arranged between the suction ends of the suction pump. The suction port is arranged on the bottom wall of the arc tube. The activated carbon adsorption layer is arranged on the inner wall of the residual food cylinder on the side of the heat preservation partition far from the copper mesh cylinder.

[0010] During use, the flushing pump sprays the extracted air through the flushing hose and the flushing nozzle towards the chicken coop relatively. On the one hand, it can reduce the probability of the chicken's head reaching into the esophagus, facilitating the movement of the food scraping cylinder to collect the residual food inside the esophagus. On the other hand, for the collection of feces inside the chicken coop in the existing method, a conveyor belt is used. Through the automatic rotation of the conveyor belt, the feces falling inside the chicken coop are transported out. However, some feces will adhere to the surface of the chicken cage, and the chicken cage with adhered feces is located inside the chicken coop, resulting in more obstruction to air circulation. Therefore, a large amount of harmful substances accumulate. At this time, the airflow flushed by the flushing nozzle increases the air pressure inside the chicken coop. The suction pump extracts the air inside the chicken coop through the arc-shaped pipe. The arc-shaped pipe extracts the air inside the chicken coop into the exhaust pipe through the suction port. The exhaust pipe transports the air inside the chicken coop to the activated carbon adsorption layers at both ends of the residual food cylinder. The air accumulated inside the chicken coop is discharged after being filtered by the activated carbon adsorption layer.

[0011] Specifically, a controller is provided on one side of the residual food cylinder close to the gas sensor.

[0012] Among them, the controller is electrically connected to the push electromagnet, the lifting electromagnet, the gas sensor, the feeding pump, the marking electromagnet, the flushing pump, and the suction pump respectively.

[0013] Preferably, the model of the controller is CJ1W-OD232.

[0014] Further, the model of the gas sensor is EM500-NH3.

[0015] The beneficial effects obtained by this solution with the above structure are as follows:

[0016] Compared with the prior art, this solution adopts a method of moving to collect residual food. Through the set clamping type aggregate mechanism and counter-flushing type waste cleaning mechanism, and with the coordinated use of the pushing mechanism, the lifting mechanism, the waste detection mechanism, the food scraping mechanism, the marking mechanism, the flushing mechanism, and the filtering mechanism, it can collect the residual feed that has not been eaten inside the esophagus of the chicken coop. The heating coil heats the heating cylinder, and under the conduction of the heat-conducting copper rod, the residual feed entering the copper mesh cylinder is heated, so that the harmful substances absorbed inside the residual feed volatilize. Through the detection function of the gas sensor, the parts where the harmful substances in the chicken coop exceed the standard are detected, facilitating the operators to remove the feces adhering to the surface of the chicken cage, thereby reducing the probability of the feed absorbing harmful substances and ensuring the feeding quality of the feed for the chickens. Description of the Drawings

[0017] Figure 1 is the overall structural schematic diagram of this solution;

[0018] Figure 2 is the front perspective view of this solution;

[0019] Figure 3 It is the upward-looking perspective view of this solution;

[0020] Figure 4 It is the front view of this solution;

[0021] Figure 5 It is the side view of this solution;

[0022] Figure 6 It is the top view of this solution;

[0023] Figure 7 It is the structural schematic diagram of the waste measurement mechanism of this solution;

[0024] Figure 8 It is Figure 6 The partial sectional view of A-A of

[0025] Figure 9 It is Figure 5 The partial sectional view of B-B of

[0026] Figure 10 It is Figure 2 The enlarged structural view of part I of

[0027] Figure 11 It is Figure 1 The enlarged structural view of part II of

[0028] Figure 12 It is Figure 7 The enlarged structural view of part III of

[0029] Among them, 1. Electric inspection vehicle, 2. Slide groove, 3. Residual food barrel, 4. Clamping type aggregate mechanism, 5. Pushing mechanism, 6. Guide sleeve, 7. Guide post, 8. Pushing electromagnet, 9. Pushing frame, 10. Ring magnet, 11. Return spring, 12. Lifting mechanism, 13. Lifting rod, 14. Lifting slider, 15. Lifting spring, 16. Lifting electromagnet, 17. Sliding magnet, 18. Waste measurement mechanism, 19. Copper mesh barrel, 20. Heat insulation partition board, 21. Heating barrel, 22. Heating coil, 23. Metal rod, 24. Heat conducting copper rod, 25. One-way exhaust valve, 26. Gas sensor, 27. Food shoveling mechanism, 28. Food shoveling barrel, 29. Suction pump, 30. Feeding pipe, 31. Telescopic pipe, 32. Suction box, 33. Impact type waste cleaning mechanism, 34. Flushing mechanism, 35. Flushing pump, 36. Flushing hose, 37. Flushing nozzle, 38. Filtering mechanism, 39. Air suction pump, 40. Exhaust pipe, 41. Arc-shaped pipe, 42. Air suction port, 43. Activated carbon adsorption layer, 44. Controller, 45. Marking mechanism, 46. Marking electromagnet, 47. Marking magnetic rod, 48. Limit plate, 49. Limit spring, 50. Pigment block.

[0030] The accompanying drawings are used to provide a further understanding of the present solution, and constitute a part of the description. They are used together with the embodiments of the present solution to explain the present solution, and do not constitute a limitation to the present solution. Detailed implementation manners

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present solution with reference to the accompanying drawings in the embodiments of the present solution. Obviously, the described embodiments are only a part of the embodiments of the present solution, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present solution without creative efforts belong to the scope of protection of the present solution.

[0032] In the description of the present solution, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present solution 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 thus cannot be understood as a limitation to the present solution.

[0033] As Figures 1 - 12 shown, a patrol robot for chicken coop management proposed by the present solution includes an electric patrol vehicle 1, a chute 2, a residual food barrel 3, a clamping type aggregate mechanism 4, and a counterflush type waste cleaning mechanism 33. The chute 2 is provided on the bottom wall of the electric patrol vehicle 1, and the chute 2 is provided with three open sides. The residual food barrel 3 is provided on the upper wall of the electric patrol vehicle 1, and the residual food barrel 3 is a cavity with both ends open. The clamping type aggregate mechanism 4 includes a pushing mechanism 5, a lifting mechanism 12, a waste measuring mechanism 18, a food shoveling mechanism 27, and a marking mechanism 45. The pushing mechanism 5 is provided on the side wall of the residual food barrel 3. The lifting mechanism 12 is provided at one end of the pushing mechanism 5 away from the residual food barrel 3. The waste measuring mechanism 18 is provided between the electric patrol vehicle 1 and the residual food barrel 3. The food shoveling mechanism 27 is provided on one side of the lifting mechanism 12 away from the pushing mechanism 5. The marking mechanism 45 is provided between the residual food barrel 3 and the pushing mechanism 5. The counterflush type waste cleaning mechanism 33 includes a flushing mechanism 34 and a filtering mechanism 38. The flushing mechanism 34 is provided on the upper wall of the lifting mechanism 12. The filtering mechanism 38 is provided on the upper wall of the residual food barrel 3.

[0034] The ejection mechanism 5 includes a guide sleeve 6, a guide post 7, an ejection electromagnet 8, an ejection frame 9, an annular magnet 10, and a return spring 11. The guide sleeve 6 is provided on the side wall of the food residue barrel 3, and the guide sleeves 6 are arranged oppositely. The guide post 7 is slidably arranged at one end of the guide sleeve 6 away from the food residue barrel 3. The ejection electromagnet 8 is provided on the side wall of the food residue barrel 3 outside the guide post 7. The ejection frame 9 is arranged on the side of the guide post 7 away from the guide sleeve 6. The annular magnet 10 is provided on the side wall of the ejection frame 9 outside the guide post 7. The return spring 11 is arranged between the food residue barrel 3 and the ejection frame 9. The lifting mechanism 12 includes a lifting rod 13, a lifting slider 14, a lifting spring 15, a lifting electromagnet 16, and a sliding magnet 17. The lifting rod 13 is arranged between the upper wall and the bottom wall of one end of the ejection frame 9 away from the guide post 7. The lifting slider 14 is slidably arranged outside the lifting rod 13. The lifting spring 15 is arranged between the upper wall of the ejection frame 9 outside the lifting rod 13 and the upper wall of the lifting slider 14. The lifting electromagnet 16 is provided on the bottom wall of the ejection frame 9 outside the lifting rod 13. The sliding magnet 17 is provided on the bottom wall of the lifting slider 14 outside the lifting rod 13, and the lifting electromagnet 16 and the sliding magnet 17 are arranged oppositely. The waste detection mechanism 18 includes a copper mesh barrel 19, a heat preservation partition 20, a heating barrel 21, a heating coil 22, a metal rod 23, a heat conducting copper rod 24, a one-way exhaust valve 25, and a gas sensor 26. The copper mesh barrel 19 is provided on the inner wall of the food residue barrel 3. The heat preservation partitions 20 are symmetrically provided on the inner wall of the food residue barrel 3 on both sides of the copper mesh barrel 19. The heating barrel 21 is provided on the inner wall of the electric inspection vehicle 1 below the food residue barrel 3. The metal rod 23 is provided on the inner wall of the heating barrel 21. The heating coil 22 is provided on the inner wall of the heating barrel 21 outside the metal rod 23. The heat conducting copper rod 24 penetrates through the food residue barrel 3 and is arranged between the inside of the copper mesh barrel 19 and the heating barrel 21. The one-way exhaust valve 25 is communicatively arranged on the side of the heat preservation partition 20 away from the copper mesh barrel 19. The gas sensor 26 is provided on the side wall of the food residue barrel 3, and the detection end of the gas sensor 26 penetrates through the food residue barrel 3 and is arranged inside the copper mesh barrel 19. The food shoveling mechanism 27 includes a food shoveling barrel 28, a suction pump 29, a feed pipe 30, a telescopic pipe 31, and a suction box 32. The food shoveling barrel 28 is arranged on the side of the lifting slider 14 away from the ejection frame 9. The food shoveling barrel 28 is a cavity with openings at both ends. The suction pumps 29 are symmetrically arranged on one side of the food residue barrel 3, and the discharge ends of the suction pumps 29 penetrate through and are arranged inside the copper mesh barrel 19. The feed pipe 30 penetrates through and is arranged on the inner wall of the bottom of the ejection frame 9. One end of the feed pipe 30 away from the ejection frame 9 is arranged at the suction end of the suction pump 29. The telescopic pipe 31 penetrates through and is arranged inside the food shoveling barrel 28. One end of the telescopic pipe 31 away from the food shoveling barrel 28 is communicatively arranged with the feed pipe 30. The suction box 32 is communicatively arranged at one end of the telescopic pipe 31 away from the feed pipe 30. The suction box 32 is arranged with an opening at one end, and there is a distance between the suction box 32 and the bottom wall of the food shoveling barrel 28;The marking mechanism 45 includes a marking electromagnet 46, a marking magnetic rod 47, a limiting plate 48, a limiting spring 49 and a pigment block 50. The marking electromagnet 46 is arranged on the side wall of the food residue barrel 3 inside the reset spring 11. The marking magnetic rods 47 are symmetrically arranged on the inner walls at both ends of the pushing frame 9. The limiting plate 48 is arranged at one end of the marking magnetic rod 47 away from the pushing frame 9. The limiting spring 49 is arranged between the pushing frame 9 on the outer side of the marking magnetic rod 47 and the limiting plate 48. The pigment block 50 is arranged on one side of the marking magnetic rod 47 close to the limiting plate 48. The limiting spring 49 is in a compressed state. The side of the marking magnetic rod 47 away from the pigment block 50 is in contact with the marking electromagnet 46.;

[0035] The flushing mechanism 34 includes a flushing pump 35, a flushing hose 36 and a flushing nozzle 37. The flushing pump 35 is arranged on the upper wall of the pushing frame 9. The flushing hose 36 is arranged at the air outlet end of the flushing pump 35. One end of the flushing hose 36 away from the flushing pump 35 is arranged on the upper wall of the telescopic pipe 31. The flushing nozzle 37 is communicatively arranged on one side of the flushing hose 36 close to the telescopic pipe 31. The filtering mechanism 38 includes a suction pump 39, an exhaust pipe 40, an arc-shaped pipe 41, a suction port 42 and an activated carbon adsorption layer 43. The suction pump 39 is arranged on the upper wall of the food residue barrel 3. The exhaust pipe 40 is communicatively arranged between the exhaust end of the suction pump 39 and the food residue barrel 3. The arc-shaped pipe 41 is arranged between the suction ends of the suction pump 39. The suction port 42 is arranged on the bottom wall of the arc-shaped pipe 41. The activated carbon adsorption layer 43 is arranged on the inner wall of the food residue barrel 3 on the side of the heat preservation partition board 20 away from the copper mesh cylinder 19.

[0036] A controller 44 is arranged on one side of the food residue barrel 3 close to the gas sensor 26.

[0037] The controller 44 is electrically connected to the pushing electromagnet 8, the lifting electromagnet 16, the gas sensor 26, the feeding pump 29, the marking electromagnet 46, the flushing pump 35 and the suction pump 39 respectively.

[0038] The model of the controller 44 is CJ1W-OD232.

[0039] The model of the gas sensor 26 is EM500-NH3.

[0040] During specific use, since the chickens in the chicken coop are back to back inside the chicken coop, each row of chicken coops is divided into multiple layers, and each layer of chicken coop is respectively equipped with an esophagus. Sliding rails are pre-laid on the ground on both sides of the chicken coop. The electric inspection vehicle 1 is placed on the sliding rails through the chute 2. The wheels of the electric inspection vehicle 1 are in contact with the ground. The electric inspection vehicle 1 moves through the frictional driving force generated between the rotation of the wheels and the ground. The electric inspection vehicle 1 moves in a straight line along the sliding rails through the chute 2;

[0041] Example 1. In the initial state, the normal state of the reset spring 11 is set to be compressed, the normal state of the lifting spring 15 is set to be extended, the guide post 7 retracts into the inside of the guide sleeve 6, the lifting slider 14 is located outside the bottom wall of the lifting rod 13, and the distance between the lifting electromagnet 16 and the sliding magnet 17 is the minimum value. Adjust the height of the feeding shovel cylinder 28 to collect the residual feed inside the esophagus of the chicken coop. The controller 44 controls the lifting electromagnet 16 to start. The lifting electromagnet 16 is energized to generate magnetism. The lifting electromagnet 16 and the sliding magnet 17 are set with the same pole. The lifting electromagnet 16 pushes the sliding magnet 17 through repulsion. The sliding magnet 17 drives the lifting slider 14 to slide upward along the lifting rod 13 by the deformation of the lifting spring 15. The lifting slider 14 drives the feeding shovel cylinder 28 to rise above the esophagus at the bottom layer of the chicken coop. Subsequently, the controller 44 controls the pushing electromagnet 8 to start. The pushing electromagnet 8 is energized to generate magnetism. The pushing electromagnet 8 and the annular magnet 10 are set with the same pole. The pushing electromagnet 8 is fixed on the side wall of the residual feed cylinder 3 and pushes the annular magnet 10 through repulsion. The annular magnet 10 drives the pushing frame 9 to approach the chicken coop by the deformation of the reset spring 11. The guide post 7 extends out of the inside of the guide sleeve 6. The pushing frame 9 drives the feeding shovel cylinder 28 to insert into the chicken coop through the lifting rod 13 and the lifting slider 14. The lifting electromagnet 16 is powered off to demagnetize, and the lifting spring 15 elastically resets to drive the feeding shovel cylinder 28 to fit against the bottom wall of the esophagus of the chicken coop;

[0042] During the walking process of the electric inspection vehicle 1, it drives the feeding shovel cylinder 28 to slide along the inner wall of the esophagus. The residual feed inside the esophagus is shoveled into the feeding shovel cylinder 28. The controller 44 controls the suction pump 29 to start. The suction pump 29 sucks the residual feed that enters the feeding shovel cylinder 28 into the telescopic pipe 31 through the suction box 32. The telescopic pipe 31 pumps the residual feed into the copper mesh cylinder 19 through the feed pipe 30 for storage. The controller 44 controls the heating coil 22 to be energized. The heating coil 22 is energized to heat the metal rod 23. The temperature of the metal rod 23 rises to heat the air inside the heating cylinder 21. After the temperature inside the heating cylinder 21 rises, it heats the copper mesh cylinder 19 through the heat-conducting copper rod 24. The copper mesh cylinder 19 heats the residual feed that enters its inside. The volatile substances (such as ammonia) absorbed inside the residual feed evaporate into the inside of the copper mesh cylinder 19. The harmful gases volatilized inside the residual feed are discharged into the residual feed cylinder 3 through the one-way exhaust valve 25. The harmful substances are discharged after being filtered by the activated carbon adsorption layer 43;

[0043] The controller 44 controls the gas sensor 26 to start. The gas sensor 26 detects harmful substances in the air inside the copper mesh cylinder 19. When the harmful substances content in the feed volatilized into the inside of the copper mesh cylinder 19 detected by the gas sensor 26 exceeds the standard, the controller 44 controls the marking electromagnet 46 to start. The marking electromagnet 46 is energized to generate magnetism. The marking electromagnet 46 and the marking magnetic rod 47 are arranged with the same poles. The marking electromagnet 46 is fixed on the side wall of the residual food cylinder 3 and pushes the marking magnetic rod 47 through repulsion. The marking magnetic rod 47 drives the pigment block 50 to approach the side wall of the esophagus by the deformation of the limit spring 49. The pigment block 50 colors and marks the side wall of the esophagus, thus facilitating the operator to remove the feces adhered to the corresponding chicken coop surface, thereby reducing the absorption of the feed to the peculiar smell in the air and improving the feeding quality of the chickens;

[0044] Embodiment 2, based on the above embodiment, the controller 44 controls the flushing pump 35 to start. The flushing pump 35 sprays the extracted air through the flushing hose 36 and the flushing nozzle 37 relatively towards the chicken coop, which can prevent the chicken head from extending into the esophagus. It is convenient for the shoveling food cylinder 28 to collect the residual feed inside the esophagus. And through the airflow flushed by the flushing nozzle 37, the air pressure inside the chicken coop increases. The controller 44 controls the suction pump 39 to start. The suction pump 39 extracts the air inside the chicken coop through the arc-shaped pipe 41. The arc-shaped pipe 41 extracts the air inside the chicken coop into the exhaust pipe 40 through the suction port 42. The exhaust pipe 40 transports the air inside the chicken coop to the activated carbon adsorption layers 43 at both ends of the residual food cylinder 3. The air accumulated inside the chicken coop is discharged after being filtered by the activated carbon adsorption layers 43, thereby being able to reduce the concentration of harmful substances inside the chicken coop and ensure the breeding quality of the chicken coop for the chickens; Just repeat the above operations when using next time.

[0045] It should be noted that in this article, 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 variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to this process, method, article or device.

[0046] The above describes the present solution and its implementation manners. This description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present solution, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it and design similar structural manners and embodiments without creative work without departing from the creative purpose of the present solution, they shall fall within the protection scope of the present solution.

Claims

1. A patrol robot for chicken coop management, comprising an electric patrol vehicle, a chute and a food residue barrel, characterized in that: It also includes a clamping type aggregate mechanism and a counterflush type waste cleaning mechanism. The chute is arranged on the bottom wall of the electric inspection vehicle. The chute is provided with three open sides. The residual food barrel is arranged on the upper wall of the electric inspection vehicle. The residual food barrel is a cavity with openings at both ends. The clamping type aggregate mechanism includes a pushing mechanism, a lifting mechanism, a waste measuring mechanism, a food shoveling mechanism and a marking mechanism. The pushing mechanism is arranged on the side wall of the residual food barrel. The lifting mechanism is arranged at one end of the pushing mechanism far away from the residual food barrel. The waste measuring mechanism is arranged between the electric inspection vehicle and the residual food barrel. The food shoveling mechanism is arranged on one side of the lifting mechanism far away from the pushing mechanism. The marking mechanism is arranged between the residual food barrel and the pushing mechanism. The counterflush type waste cleaning mechanism includes a flushing mechanism and a filtering mechanism. The flushing mechanism is arranged on the upper wall of the lifting mechanism. The filtering mechanism is arranged on the upper wall of the residual food barrel; The waste measuring mechanism includes a copper mesh barrel, a heat preservation partition board, a heating barrel, a heating coil, a metal rod, a heat conducting copper rod, a one-way exhaust valve and a gas sensor; The copper mesh barrel is arranged on the inner wall of the residual food barrel. The heat preservation partition boards are symmetrically arranged on the inner walls of the residual food barrel on both sides of the copper mesh barrel. The heating barrel is arranged on the inner wall of the electric inspection vehicle below the residual food barrel. The metal rod is arranged on the inner wall of the heating barrel. The heating coil is arranged on the inner wall of the heating barrel outside the metal rod. The heat conducting copper rod penetrates through the residual food barrel and is arranged between the inside of the copper mesh barrel and the heating barrel. The one-way exhaust valve is communicated and arranged on one side of the heat preservation partition board far away from the copper mesh barrel. The gas sensor is arranged on the side wall of the residual food barrel. The detection end of the gas sensor penetrates through the residual food barrel and is arranged inside the copper mesh barrel.

2. The inspection robot for chicken coop management according to claim 1, wherein: The pushing mechanism includes a guiding sleeve, a guiding column, a pushing electromagnet, a pushing frame, an annular magnet and a reset spring. The guiding sleeve is arranged on the side wall of the residual food barrel. The guiding sleeves are arranged oppositely. The guiding column is slidably arranged at one end of the guiding sleeve far away from the residual food barrel. The pushing electromagnet is arranged on the side wall of the residual food barrel outside the guiding column. The pushing frame is arranged on one side of the guiding column far away from the guiding sleeve. The annular magnet is arranged on the side wall of the pushing frame outside the guiding column. The reset spring is arranged between the residual food barrel and the pushing frame.

3. The inspection robot for chicken coop management according to claim 2, characterized in that: The lifting mechanism includes a lifting rod, a lifting slider, a lifting spring, a lifting electromagnet and a sliding magnet. The lifting rod is arranged between the upper wall and the bottom wall at one end of the pushing frame far away from the guiding column. The lifting slider is slidably arranged outside the lifting rod. The lifting spring is arranged between the upper wall of the pushing frame outside the lifting rod and the upper wall of the lifting slider. The lifting electromagnet is arranged on the bottom wall of the pushing frame outside the lifting rod. The sliding magnet is arranged on the bottom wall of the lifting slider outside the lifting rod. The lifting electromagnet and the sliding magnet are arranged oppositely.

4. The inspection robot for chicken coop management according to claim 3, wherein: The shoveling and feeding mechanism includes a shoveling and feeding cylinder, a suction pump, a feeding pipe, a telescopic pipe, and a suction box. The shoveling and feeding cylinder is arranged on the side of the lifting slider away from the pushing frame. The shoveling and feeding cylinder is a cavity with openings at both ends. The suction pumps are symmetrically arranged on one side of the residual food cylinder. The discharge end of the suction pump penetrates and is arranged inside the copper mesh cylinder. The feeding pipe penetrates and is arranged on the inner wall of the bottom of the pushing frame. The end of the feeding pipe away from the pushing frame is arranged at the suction end of the suction pump. The telescopic pipe penetrates and is arranged inside the shoveling and feeding cylinder. The end of the telescopic pipe away from the shoveling and feeding cylinder is communicated with the feeding pipe. The suction box is communicated and arranged at the end of the telescopic pipe away from the feeding pipe. The suction box is arranged with an opening at one end, and there is a distance between the suction box and the bottom wall of the shoveling and feeding cylinder.

5. The inspection robot for chicken coop management according to claim 2, characterized in that: The marking mechanism includes a marking electromagnet, a marking magnetic rod, a limiting plate, a limiting spring, and a pigment block. The marking electromagnet is arranged on the side wall of the residual food cylinder inside the reset spring. The marking magnetic rods are symmetrically arranged on the inner walls at both ends of the pushing frame. The limiting plate is arranged at the end of the marking magnetic rod away from the pushing frame. The limiting spring is arranged between the pushing frame outside the marking magnetic rod and the limiting plate. The pigment block is arranged on the side of the marking magnetic rod close to the limiting plate. The limiting spring is in a compressed state, and the side of the marking magnetic rod away from the pigment block is in contact with the marking electromagnet.

6. The inspection robot for chicken coop management according to claim 4, characterized in that: The flushing mechanism includes a flushing pump, a flushing hose, and a flushing nozzle. The flushing pump is arranged on the upper wall of the pushing frame. The flushing hose is arranged at the air outlet end of the flushing pump. The end of the flushing hose away from the flushing pump is arranged on the upper wall of the telescopic pipe. The flushing nozzle is communicated and arranged on the side of the flushing hose close to the telescopic pipe.

7. The inspection robot for chicken coop management according to claim 1, characterized in that: The filtering mechanism includes an air suction pump, an exhaust pipe, an arc-shaped pipe, an air suction port, and an activated carbon adsorption layer. The air suction pump is arranged on the upper wall of the residual food cylinder. The exhaust pipe is communicated and arranged between the exhaust end of the air suction pump and the residual food cylinder. The arc-shaped pipe is arranged between the air suction ends of the air suction pump. The air suction port is arranged on the bottom wall of the arc-shaped pipe. The activated carbon adsorption layer is arranged on the inner wall of the residual food cylinder on the side of the heat preservation partition away from the copper mesh cylinder.

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