Piglet transport vehicle with automatic excrement and urine collecting and cleaning system

Abstract

The piglet transport vehicle with the automatic excrement and urine collecting and cleaning system comprises a transport truck, an excrement and urine treatment bottom plate is fixedly installed on a truck body of the transport truck, an intelligent compartment is fixedly installed on the top face of the excrement and urine treatment bottom plate, and a drying bin is arranged in the rear end of the excrement and urine treatment bottom plate; a filter plate is fixedly mounted at a discharge outlet in the bottom surface of the rear end of the excrement and urine treatment bottom plate in an embedded manner, a liquid collecting box is fixedly mounted on the bottom surface of the rear end of the excrement and urine treatment bottom plate through bolts, and a heating plate is fixedly mounted on the inner bottom surface of the excrement and urine treatment bottom plate in an embedded manner. According to the piglet transport vehicle with the automatic excrement and urine collecting and cleaning system, the drying bin is connected with the liquid collecting box, excrement and urine of piglets can be effectively collected and discharged, dirt accumulation in the transport process is avoided, the sanitary environment of the transport vehicle is kept, and meanwhile the situation that the interior of the intelligent compartment is affected by peculiar smells of the collected excrement and urine is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of piglet transportation, in particular to a piglet transportation vehicle with an automatic excrement and urine collection and cleaning system. Background Art

[0002] Piglet transportation refers to the transportation of piglets, which mainly focuses on ensuring that piglets can reach their destination safely and comfortably during transportation, while reducing stress reactions to piglets during transportation, avoiding disease transmission and injury. Piglets are transferred by piglet transport vehicles, which are suitable for long-term transportation work.

[0003] Comparative document: A pig transport vehicle, publication number: CN112793497B, the technical effect is to feed the pigs in real time when they are hungry, ensure the pigs eat, reduce weight, feed a fixed amount each time, and prevent the feed from spilling;

[0004] Comparative document: A live pig transport vehicle, publication number: CN112172654B. The present invention can avoid the loss of live pigs due to crowding during transportation and reduce the transportation loss rate.

[0005] During the long-term transportation of piglets, open or semi-open carriages can easily allow wind to enter the carriage during the vehicle's driving, affecting the piglets. In addition, during the transportation of piglets, piglets are prone to defecation multiple times, which affects the internal environment of the carriage, leading to hygiene problems and the spread of diseases, affecting health. It is impossible to fully and real-timely treat the feces and urine inside the carriage, or the cleaning process is not complete, which easily produces odor. Therefore, we also propose a piglet transport vehicle with an automatic feces and urine collection and cleaning system. Summary of the Invention

[0006] The purpose of the present invention is to provide a piglet transport vehicle with an automatic feces and urine collection and cleaning system, so as to solve the above-mentioned problem of a piglet transport vehicle with an automatic feces and urine collection and cleaning system on the market today. During the transportation of piglets, piglets are prone to defecate multiple times, which affects the internal environment of the vehicle, causing hygiene problems and easy disease transmission, affecting health. It is impossible to fully and real-timely treat the feces and urine inside the vehicle, or the cleaning treatment is not complete, which easily produces odor.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a piglet transport vehicle with an automatic excrement collection and cleaning system, comprising a transport truck, a feces and urine treatment base plate fixedly installed on the body of the transport truck, and a smart compartment fixedly installed on the top surface of the feces and urine treatment base plate, a drying bin is provided inside the rear end of the feces and urine treatment base plate, a filter plate is fixedly installed on the discharge port on the rear end bottom surface of the feces and urine treatment base plate, and a liquid collection box is fixedly installed on the rear end bottom surface of the feces and urine treatment base plate by bolts, a heating plate is fixedly installed on the inner bottom surface of the feces and urine treatment base plate, a hydraulic telescopic rod is fixedly installed on the front end of the feces and urine treatment base plate, and the rear end of the hydraulic telescopic rod is fixedly installed. A sealing push plate is installed, and a baffle plate is fixedly installed on the front side of the upper and lower ends of the sealing push plate, and the sealing push plate and the baffle plate are located inside the drying bin, and a sealing partition door is rotatably installed on the rear end of the feces and urine treatment bottom plate, a ventilation system device is fixedly installed on the outer side of the frame of the smart compartment, and a water delivery tank and a disinfectant storage mechanism are fixedly installed on the top surface of the smart compartment, a guide partition plate and a load-bearing platform are fixedly installed inside the smart compartment, a visual camera and a high-pressure cleaning mechanism are fixedly installed on the inner top surface of the smart compartment and the bottom surface of the load-bearing platform, a disinfectant spray pipe is fixedly installed on the bottom surface of the disinfectant storage mechanism, and the disinfectant spray pipe passes through the smart compartment and the load-bearing platform.

[0008] Preferably, the sealing push plate and the baffle plate are arranged as an integrated structure, and the length of the baffle plate and the sealing push plate is greater than the length of the feed trough on the top surface of the feces and urine treatment base plate, and the sealing push plate and the baffle plate are connected to the drying bin by a sliding connection. The drying bin is connected to the internal space of the liquid collection box through the drainage trough at the rear end of the feces and urine treatment base plate, and the bottom end of the sealing partition door is connected to the inner wall of the feces and urine treatment base plate by magnetic adsorption.

[0009] Preferably, the water delivery tank is connected to the visual camera connector through a water pipe, and the visual camera and the water delivery tank are symmetrically distributed on the smart compartment and the load-bearing platform, the disinfectant storage mechanism and the internal space of the disinfectant spray pipe are interconnected, and the disinfectant spray pipe is symmetrically distributed at equal intervals on the disinfectant storage mechanism, and spray holes are distributed around the disinfectant spray pipe at equal intervals.

[0010] Preferably, the load-bearing platform and the guide partition plate are connected by welding, and the load-bearing platform is symmetrically distributed on the guide partition plate, and the load-bearing platform is provided with two groups, upper and lower. The internal space of the load-bearing platform and the guide partition plate are interconnected, and the internal bottom surface of the load-bearing platform is an inclined surface structure, and the top surface of the load-bearing platform is provided with a feces and urine collection trough.

[0011] Another technical solution provided by the present invention is an automatic feces and urine collection and cleaning system, which is represented as follows:

[0012] S1, visual acquisition module, this module uses a visual camera to collect and pre-process images of the dirt areas inside the smart car in real time. A lighting system is installed on the top of the smart car to identify the dirt areas based on color. The smart car area uses a single background color, and fecal and urine pollutants are identified through color segmentation, and the dirt areas are marked and located;

[0013] S2, a dirt cleaning module, which automatically cleans the interior of the smart car by controlling a high-pressure cleaning system based on the dirt areas marked by the visual acquisition module. The high-pressure cleaning system is composed of a high-pressure cleaning mechanism and a water delivery tank. The water delivery tank controls the spray water pressure, and the high-pressure cleaning mechanism automatically adjusts its angle position to automatically clean dirt from the interior surface of the smart car.

[0014] S3, a ventilation system module, which is installed on both sides of the smart car through a ventilation system device to circulate air inside the smart car, detect and control the odor concentration, temperature and humidity inside the smart car;

[0015] S4, a feces and urine guiding module, which is composed of a load-bearing platform and a guide partition plate. The top surface of the load-bearing platform is provided with a feces and urine collection groove. The load-bearing platform guides the feces and urine mixture into the interior of the guide partition plate, and the feces and urine mixture falls into the drying chamber through the interior space of the guide partition plate;

[0016] S5, feces and urine separation and processing module, which is composed of a feces and urine processing base plate, a drying chamber, a filter plate, a liquid collection box, a heating plate, a hydraulic telescopic rod, a sealed push plate, a baffle plate and a sealed partition door. The feces and urine mixture in the drying chamber and on the top surface of the heating plate, the liquid in the feces and urine mixture flows into the liquid collection box through the drainage groove at the rear end of the feces and urine processing base plate, the filter plate blocks impurities in the feces and urine mixture, and the heating plate heats and dries the feces and a small amount of liquid in the feces and urine mixture in the drying chamber. The sealed push plate is extended by the hydraulic telescopic rod to push out the dried feces in the drying chamber. The feces pushes the sealed partition door to rotate and expand, and is discharged and cleaned from the rear end discharge port of the feces and urine processing base plate. The movement of the sealed push plate drives the baffle plate to move to prevent the feces and urine mixture in the feces and urine guiding module from entering the drying chamber;

[0017] S6, automatic disinfection module, disinfects the interior of the smart compartment through the disinfectant storage mechanism and the disinfection spray pipe, and the spray holes distributed on the disinfection spray pipe ensure uniform disinfection;

[0018] S7, Automation and Monitoring System: This system performs automated management through an integrated intelligent control platform, monitors the working status of each module in real time, and promptly feedbacks fault information and performs troubleshooting. The control platform is based on cloud computing technology and can analyze historical data and perform optimization adjustments to ensure efficient operation of the system under various working conditions.

[0019] Preferably, the specific steps of the color-based pollution identification by the visual acquisition module are:

[0020] S101, image acquisition and conversion, obtain the image inside the car through the camera and convert it from RGB color space to HSV color space. The formula is as follows:

[0021] I HSV =f RGB → HSV (I RCB )

[0022] I RCB : Input RGB image, f RGB →HSV: RGB to HSV conversion function, output image I in HSV space HSV ;

[0023] S102, HSV threshold setting, setting the threshold value in the HSV color space for feces and urine, feces are yellow to brown, urine is yellow to light yellow,

[0024] Fecal HSV threshold: H feces ∈(20°, 40°), S feces ∈(40%, 100%), V feces ∈(40%, 80%)

[0025] Urine HSV threshold: H urine ∈(35°, 55°), S urine ∈(20%, 80%), V urine ∈(70%, 100%)

[0026] H feces and H urine : Hue, indicating the basic type of color,

[0027] S feces and S urine : Saturation, which indicates the purity or vividness of the color.

[0028] V feces and V urine : Lightness, which indicates the brightness of the color;

[0029] S103, color segmentation, use HSV threshold to image I HSV Perform color segmentation to extract the feces and urine areas, and generate two binary masks, corresponding to the feces area and urine area respectively. The formula is as follows:

[0030] For the binary mask of feces, a value of 1 means that the pixel belongs to the feces area, and 0 means that it does not belong to the feces area.

[0031] For the binary mask of urine, a value of 1 indicates that the pixel belongs to the urine area, and 0 indicates that the pixel does not belong to the urine area;

[0032] S104, performing morphological operations on the generated binary masks of the feces region and urine region, including dilation and erosion, to remove noise and connect discontinuous regions;

[0033] S105. Perform contour detection on the binary mask after morphological operation processing to obtain the contour boundaries of the feces area and the urine area, and draw contour boundary boxes so that each contour is included in a rectangular box to represent the spatial position of the feces or urine area, and transmit the spatial position information to the dirt cleaning module.

[0034] Preferably, the dirt cleaning module includes water pressure control, spray angle adjustment and cleaning path planning, specifically in the following ways:

[0035] S201, water pressure control, water pressure adjustment in feces and urine contaminated areas,

[0036] Fecal contaminated areas: Feces are in a paste or wet state and require high water pressure for cleaning, but not too high to damage the surface of the carriage;

[0037] Water pressure range: P feces ∈[15bar, 40bar](suitable for cleaning paste or wet feces),

[0038] Water pressure range: P urine ∈[10bar, 30bar](suitable for cleaning relatively liquid urine);

[0039] S202, spray angle control, adjust according to the spatial location of the pollutant area:

[0040] Feces area: The feces area is localized and accumulated, so the spray angle needs to be adjusted to ensure that the water flow covers a wide area.

[0041] Spray angle range: θ feces ∈[15°, 90°]

[0042] Urine area: The urine area is evenly distributed, the spray angle is relatively concentrated, and the cleaning efficiency is improved. The spray angle range is: θ urine ∈[5°, 45°]

[0043] S203, high pressure nozzle automatically adjusts the angle, the formula is as follows:

[0044] θ nozzle =θ base +Δθ

[0045] θ nozzle : Spray angle after automatic adjustment

[0046] θ base : Basic spray angle

[0047] Δθ: Increment of injection angle

[0048] S204, water flow control, adjust according to the area of the cleaning area and the degree of pollution,

[0049] Fecal contamination area: Fecal contamination is concentrated in the area and requires large water flow for cleaning.

[0050] Water flow range: Q feces ∈[0.5L / min, 3L / min]

[0051] Urine-contaminated areas: Urine contamination is thin, so low water flow can be used for cleaning.

[0052] Water flow range: Q urine ∈[0.3L / min, 2L / min]

[0053] S205: Cleaning path planning. The cleaning path planning needs to be dynamically adjusted according to the distribution area of feces and urine.

[0054] Compared with the prior art, the present invention has the following beneficial effects: the piglet transport vehicle with an automatic excrement and urine collection and cleaning system;

[0055] 1. The connection between the drying bin and the liquid collection box can effectively collect and discharge the piglet's feces and urine, avoid the accumulation of dirt during transportation, maintain the sanitary environment of the transport vehicle, and prevent the odor of the collected feces and urine from affecting the smart compartment.

[0056] 2. Equipped with spray holes and spray systems, the spray holes on the disinfection spray pipe can automatically perform disinfection operations. The water delivery tank and high-pressure cleaning mechanism enable the cleaning system to quickly and effectively clean the bottom surface, reducing the workload of manual cleaning;

[0057] 3. The welded connection between the load-bearing platform and the guide partition plate and the rational layout of the internal space make the entire system more durable. At the same time, the inclined inner wall design of the load-bearing platform and the guide partition plate effectively guides the dirt to flow into the collection tank, avoiding dirt accumulation;

[0058] 4. Through the collaboration of the visual acquisition module and the high-pressure cleaning system, automated and precise carriage cleaning can be achieved. The system can accurately identify and locate contaminated areas, feces and urine based on real-time collected image data, and perform efficient cleaning by intelligently adjusting water pressure, spray angle and cleaning path, and can clean in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1This is a schematic diagram of the overall right side structure of the present invention;

[0060] Figure 2 This is a schematic diagram of the internal structure of the urine and feces treatment base plate and the intelligent compartment of the present invention;

[0061] Figure 3 This is a schematic diagram of the right side cross-sectional structure of the urine and feces treatment base plate of the present invention;

[0062] Figure 4 For the present invention Figure 3 A in the middle is an enlarged structural diagram;

[0063] Figure 5 This is a schematic diagram of the internal structure of the guide partition plate and the load-bearing platform of the present invention;

[0064] Figure 6 It is a schematic diagram of the overall framework flow of the present invention.

[0065] In the figure: 1. Transport truck; 2. Manure and urine treatment bottom plate; 21. Drying chamber; 22. Filter plate; 23. Liquid collection box; 24. Heating plate; 25. Hydraulic telescopic rod; 26. Sealing push plate; 27. Blocking plate; 28. Sealing partition door; 3. Intelligent compartment; 31. Ventilation system device; 32. Transport water tank; 33. Disinfectant storage mechanism; 34. Guide partition plate; 35. Load-bearing platform; 36. Visual camera; 37. High-pressure cleaning mechanism; 38. Disinfection spray pipe. DETAILED DESCRIPTION

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0067] See also Figures 1-6The present invention provides a technical solution: a piglet transport vehicle with an automatic excrement collection and cleaning system, comprising a transport truck 1, a excrement treatment base plate 2 is fixedly installed on the body of the transport truck 1, and an intelligent compartment 3 is fixedly installed on the top surface of the excrement treatment base plate 2, a drying bin 21 is provided inside the rear end of the excrement treatment base plate 2, and a filter plate 22 is fixedly installed on the discharge port of the rear end bottom surface of the excrement treatment base plate 2, and a liquid collection box 23 is fixedly installed on the rear end bottom surface of the excrement treatment base plate 2 by bolts, a heating plate 24 is fixedly installed on the inner bottom surface of the excrement treatment base plate 2, a hydraulic telescopic rod 25 is fixedly installed on the front end of the excrement treatment base plate 2, and a sealing push plate 26 is fixedly installed on the rear end of the hydraulic telescopic rod 25, and a sealing push plate 26 is fixedly installed on the rear end of the sealing push plate 26. A blocking plate 27 is fixedly installed on the front side of the upper and lower ends of the plate 26, and the sealing push plate 26 and the blocking plate 27 are located inside the drying chamber 21. A sealing partition door 28 is rotatably installed on the rear end of the feces and urine treatment base plate 2. A ventilation system device 31 is fixedly installed on the outer side of the frame of the smart compartment 3, and a conveying water tank 32 and a disinfectant storage mechanism 33 are fixedly installed on the top surface of the smart compartment 3. A guide partition plate 34 and a load-bearing platform 35 are fixedly installed inside the smart compartment 3. A visual camera 36 and a high-pressure cleaning mechanism 37 are fixedly installed on the inner top surface of the smart compartment 3 and the bottom surface of the load-bearing platform 35. A disinfectant spray pipe 38 is fixedly installed on the bottom surface of the disinfectant storage mechanism 33, and the disinfectant spray pipe 38 passes through the smart compartment 3 and the load-bearing platform 35.

[0068] The sealing push plate 26 and the baffle plate 27 are integrated into a structure, and the length of the baffle plate 27 and the sealing push plate 26 is greater than the length of the feed trough on the top surface of the feces and urine treatment base plate 2, and the sealing push plate 26 and the baffle plate 27 are connected to the drying bin 21 by sliding connection. The drying bin 21 is connected to the internal space of the liquid collection box 23 through the drainage trough at the rear end of the feces and urine treatment base plate 2, and the bottom end of the sealing partition door 28 is connected to the inner wall of the feces and urine treatment base plate 2 by magnetic adsorption.

[0069] The water delivery tank 32 is connected to the visual camera 36 through a water pipe, and the visual camera 36 and the water delivery tank 32 are symmetrically distributed on the smart compartment 3 and the load-bearing platform 35. The internal space of the disinfectant storage mechanism 33 and the disinfectant spray pipe 38 is interconnected, and the disinfectant spray pipe 38 is symmetrically distributed at equal intervals on the disinfectant storage mechanism 33, and spray holes are distributed around the disinfectant spray pipe 38 at equal intervals.

[0070] The load-bearing platform 35 and the guide partition plate 34 are connected by welding, and the load-bearing platform 35 is symmetrically distributed on the guide partition plate 34. The load-bearing platform 35 is provided with two groups, upper and lower. The internal space of the load-bearing platform 35 and the guide partition plate 34 are interconnected, and the internal bottom surface of the load-bearing platform 35 is an inclined surface structure, and the top surface of the load-bearing platform 35 is provided with a feces and urine collection trough.

[0071] In order to better illustrate a piglet transport vehicle with an automatic excrement and urine collection and cleaning system, the automatic excrement and urine collection and cleaning system in this embodiment is shown as follows:

[0072] S1, visual acquisition module, this module uses the visual camera 36 to collect and pre-process images of the dirt area inside the smart compartment 3 in real time. The top of the smart compartment 3 is equipped with a lighting system to identify the dirt area based on color. The smart compartment 3 area uses a single background color, and fecal and urine pollutants are identified through color segmentation, and the dirt area is marked and located;

[0073] S2, a dirt cleaning module, which automatically cleans the contaminants inside the smart compartment 3 by controlling a high-pressure cleaning system based on the dirt areas marked by the visual acquisition module. The high-pressure cleaning system is composed of a high-pressure cleaning mechanism 37 and a water delivery tank 32. The water delivery tank 32 controls the spray water pressure, and the high-pressure cleaning mechanism 37 automatically adjusts its angle position to automatically clean the dirt on the internal surface of the smart compartment 3;

[0074] S3, ventilation system module, which is set on both sides of the smart compartment 3 through the ventilation system device 31, circulates air inside the smart compartment 3, detects and controls the odor concentration, temperature and humidity inside the smart compartment 3;

[0075] S4, feces and urine guiding module, which is composed of a load-bearing platform 35 and a guide partition plate 34. The top surface of the load-bearing platform 35 is provided with a feces and urine collection groove. The load-bearing platform 35 guides the feces and urine mixture into the interior of the guide partition plate 34. The feces and urine mixture falls into the drying chamber 21 through the interior space of the guide partition plate 34;

[0076] S5, feces and urine separation processing module, which is composed of a feces and urine processing base plate 2, a drying chamber 21, a filter plate 22, a liquid collection box 23, a heating plate 24, a hydraulic telescopic rod 25, a sealing push plate 26, a blocking plate 27 and a sealing partition door 28. The feces and urine mixture in the drying chamber 21 and on the top surface of the heating plate 24, the liquid in the feces and urine mixture flows into the liquid collection box 23 through the drainage groove at the rear end of the feces and urine processing base plate 2, the filter plate 22 blocks the impurities inside the feces and urine mixture, and the heating plate 24 heats and dries the feces and a small amount of liquid in the feces and urine mixture inside the drying chamber 21. The sealing push plate 26 is driven by the hydraulic telescopic rod 25 to extend and push out the dried feces inside the drying chamber 21. The feces pushes the sealed partition door 28 to rotate and expand, and is discharged and cleaned from the rear end discharge port of the feces and urine processing base plate 2. The sealing push plate 26 drives the blocking plate 27 to move during the movement to prevent the feces and urine mixture in the feces and urine guiding module from entering the drying chamber 21;

[0077] S6, the automatic disinfection module disinfects the interior of the smart compartment 3 through the disinfectant storage mechanism 33 and the disinfection spray pipe 38, and the spray holes distributed on the disinfection spray pipe 38 are evenly disinfected;

[0078] S7, Automation and Monitoring System: This system performs automated management through an integrated intelligent control platform, monitors the working status of each module in real time, and promptly feedbacks fault information and performs troubleshooting. The control platform is based on cloud computing technology and can analyze historical data and perform optimization adjustments to ensure efficient operation of the system under various working conditions.

[0079] The specific steps of the color-based pollution identification of the visual acquisition module are as follows:

[0080] S101, image acquisition and conversion, obtain the image inside the car through the camera and convert it from RGB color space to HSV color space. The formula is as follows:

[0081] I HSV =f RGB → HSV (I RCB )

[0082] I RCB : Input RGB image, f RGB →HSV: RGB to HSV conversion function, output image I in HSV space HSV ;

[0083] S102, HSV threshold setting, setting the threshold value in the HSV color space for feces and urine, feces are yellow to brown, urine is yellow to light yellow,

[0084] Fecal HSV threshold: H feces ∈(20°, 40°), S feces ∈(40%, 100%), V feces ∈(40%, 80%)

[0085] Urine HSV threshold: H urine ∈(35°, 55°), S urine ∈(20%, 80%), V urine ∈(70%, 100%)

[0086] H feces and H urine : Hue, indicating the basic type of color,

[0087] S feces and S urine : Saturation, which indicates the purity or vividness of the color.

[0088] V feces and Vurine : Lightness, which indicates the brightness of the color;

[0089] S103, color segmentation, use HSV threshold to image I HSV Perform color segmentation to extract the feces and urine areas, and generate two binary masks, corresponding to the feces area and urine area respectively. The formula is as follows:

[0090] For the binary mask of feces, a value of 1 means that the pixel belongs to the feces area, and 0 means that it does not belong to the feces area.

[0091] For the binary mask of urine, a value of 1 indicates that the pixel belongs to the urine area, and 0 indicates that the pixel does not belong to the urine area;

[0092] S104, perform morphological operations on the generated feces area and urine area binary masks, including dilation and

[0093] Erosion to remove noise and connect discontinuous areas;

[0094] S105. Perform contour detection on the binary mask after morphological operation processing to obtain the contour boundaries of the feces area and the urine area, and draw contour boundary boxes so that each contour is included in a rectangular box to represent the spatial position of the feces or urine area, and transmit the spatial position information to the dirt cleaning module.

[0095] The dirt cleaning module includes water pressure control, spray angle adjustment and cleaning path planning. The specific methods are as follows:

[0096] S201, water pressure control, water pressure adjustment in feces and urine contaminated areas,

[0097] Fecal contaminated areas: Feces are in a paste or wet state and require high water pressure for cleaning, but not too high to damage the surface of the carriage;

[0098] Water pressure range: P feces ∈[15bar, 40bar](suitable for cleaning paste or wet feces),

[0099] Water pressure range: P urine ∈[10bar, 30bar](suitable for cleaning relatively liquid urine);

[0100] S202, spray angle control, adjust according to the spatial location of the pollutant area:

[0101] Feces area: The feces area is localized and accumulated, so the spray angle needs to be adjusted to ensure that the water flow covers a wide area.

[0102] Spray angle range: θ feces ∈[15°, 90°]

[0103] Urine area: The urine area is evenly distributed and the spray angle is relatively concentrated, which improves the cleaning efficiency.

[0104] Spray angle range: θ urine ∈[5°, 45°]

[0105] S203, high pressure nozzle automatically adjusts the angle, the formula is as follows:

[0106] θ nozzle =θ base +Δθ

[0107] θ nozzle : Spray angle after automatic adjustment

[0108] θ base : Basic spray angle

[0109] Δθ: Increment of injection angle

[0110] S204, water flow control, adjust according to the area of the cleaning area and the degree of pollution,

[0111] Fecal contamination area: Fecal contamination is concentrated in the area and requires large water flow for cleaning.

[0112] Water flow range: Q feces ∈[0.5L / min, 3L / min]

[0113] Urine-contaminated areas: Urine contamination is thin, so low water flow can be used for cleaning.

[0114] Water flow range: Q ur i ne ∈[0.3L / min, 2L / min]

[0115] S205: Cleaning path planning. The cleaning path planning needs to be dynamically adjusted according to the distribution area of feces and urine.

[0116] The working principle of this embodiment: Figures 1 to 6First, the piglets can be transferred to the interior of the intelligent carriage 3 so that the piglets are located on the top surface of the load-bearing platform 35. The intelligent carriage 3 is then sealed. The ventilation system device 31 provided on the intelligent carriage 3 is intelligently controlled through the ventilation system module to perform air circulation and ventilation, temperature and humidity control, odor removal and air quality monitoring. When the piglets produce feces and urine during transportation, the feces and urine of the piglets have a high moisture content. The piglets' digestive system is not yet fully mature, so their feces are relatively moist and have a high moisture content. The feces and urine are guided into the guide partition plate 34 through the feces and urine collection trough provided on the top surface of the load-bearing platform 35 and the inner bottom surface of the load-bearing platform 35 is an inclined surface structure, and slide into the drying bin 21 through the guide partition plate 34. The moisture in the urine and feces flows into the liquid collection box 23 for collection through the drainage trough and filter plate 22 at the rear end of the feces and urine treatment bottom plate 2, and the feces can stay in the drying bin 21 and on the heating plate 24. The heating plate 24 is started in advance so that the heating plate 2 The heating dries the feces in the drying chamber 21 and reduces odor. In addition, due to the structure of the guide partition plate 34 and the load-bearing platform 35, odor is difficult to enter the smart compartment 3. When the dried feces in the drying chamber 21 needs to be cleaned, the transport truck 1 is parked at the feces collection point and the hydraulic telescopic rod 25 is activated. The hydraulic telescopic rod 25 drives the sealing push plate 26 to push the feces in the drying chamber 21. At the same time, the sealing push plate 26 drives the blocking plate 27 to move, thereby blocking the connection between the heating plate 24 and the drying chamber 21, preventing the feces and urine in the guide partition plate 34 from entering the front end of the feces and urine treatment base plate 2. At the same time, the feces in the drying chamber 21 is pushed and moved by the sealing push plate 26, and then contacts and squeezes the sealing partition door 28, causing the sealing partition door 28 to rotate and expand, facilitating the discharge of feces through the rear end surface of the feces and urine treatment base plate 2. After discharge is completed, the hydraulic telescopic rod 25 controls the sealing push plate 26 and the blocking plate 27 to reset, and the sealing partition door 28 rotates to perform magnetic reset, and the operation can be repeated.

[0117] Visual acquisition and pollutant identification: The visual acquisition module uses the in-car camera to capture real-time images of the interior of the vehicle. The acquired RGB images are converted into the HSV color space for more accurate pollutant identification. Color segmentation is performed based on the HSV color range of feces and urine, and fecal and urine contaminated areas are identified and marked. Morphological processing such as dilation and erosion is used to remove noise, and the contours of contaminated areas are detected and located.

[0118] Pollutant cleaning: Based on the polluted area identified by the visual acquisition module, the dirt cleaning module activates the high-pressure cleaning system. The high-pressure cleaning system adjusts the water pressure, spray angle, and water flow rate according to the type of polluted area (feces or urine). For feces areas, higher water pressure and a larger spray angle are used for cleaning, while for urine areas, lower water pressure and a concentrated spray angle are used. The nozzle automatically adjusts according to the cleaning path planning and regional requirements to ensure that every polluted area is effectively cleaned;

[0119] Feces and urine collection and guidance: solid feces and liquid urine are guided to the guide partition plate 34 through the feces and urine collection groove on the load-bearing platform 35 and fall into the drying chamber 21, ensuring that the liquid part enters the liquid collection box 23, while the solid feces enters the drying chamber 21 for processing;

[0120] Feces and urine separation and drying process: solid feces enters the drying chamber 21 and falls onto the heating plate 24 for drying. Impurities are separated by the filter plate 22, and the liquid portion flows into the liquid collection box 23 for recovery. The solid feces during the drying process are heated by the heating plate 24 until the water is evaporated. The dried solid feces are pushed out of the drying chamber 21 by the hydraulic telescopic rod 25 and the sealed push plate 26 and discharged through the discharge port.

[0121] Carriage ventilation and air quality management: The ventilation system is activated to circulate air inside the carriage, ensuring smooth airflow and removing excess moisture and odor;

[0122] Automatic disinfection and sterilization: After cleaning and urine collection are completed, the automatic disinfection module is activated, and the disinfectant spraying pipe 38 evenly sprays disinfectant into the smart compartment 3 to ensure that the inner surface and air environment of the smart compartment 3 are effectively disinfected;

[0123] System monitoring and optimization: The automation and monitoring system monitors the working status of each module in real time, including cleaning, ventilation, and disinfection. The intelligent control platform analyzes historical data, provides real-time status feedback, performs fault diagnosis, and optimizes the workflow of each module.

[0124] Recovery and discharge: After cleaning, the feces in the drying chamber are cleaned out through the discharge system, and the liquid urine enters the liquid collection box 23 through the diversion device for subsequent recovery or treatment. The contents not described in detail in this specification belong to the existing technology known to professional and technical personnel in this field.

[0125] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0126] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A piglet transport vehicle with an automatic excrement and urine collection and cleaning system, comprising a transport truck (1), characterized in that: The transport truck (1) is fixedly provided with a feces and urine treatment base plate (2) on its body, and a smart compartment (3) is fixedly provided on the top surface of the feces and urine treatment base plate (2), a drying chamber (21) is provided inside the rear end of the feces and urine treatment base plate (2), and a filter plate (22) is fixedly provided on the discharge port of the rear end bottom surface of the feces and urine treatment base plate (2), and a liquid collection box (23) is fixedly provided on the rear end bottom surface of the feces and urine treatment base plate (2), a heating plate (24) is fixedly provided on the inner bottom surface of the feces and urine treatment base plate (2), a hydraulic telescopic rod (25) is fixedly provided on the front end of the feces and urine treatment base plate (2), and a sealing push plate (26) is fixedly provided on the rear end of the hydraulic telescopic rod (25), and a barrier plate (27) is fixedly provided on the front side of the upper and lower ends of the sealing push plate (26), and the sealing push plate (26) is fixedly provided with a sealing push plate (27). The plate (26) and the baffle plate (27) are located inside the drying chamber (21); the rear end of the feces and urine treatment bottom plate (2) is rotatably mounted with a sealed partition door (28); the outer side of the frame of the smart compartment (3) is fixedly mounted with a ventilation system device (31); the top surface of the smart compartment (3) is fixedly mounted with a water delivery tank (32) and a disinfectant storage mechanism (33); the interior of the smart compartment (3) is fixedly mounted with a guide partition plate (34) and a load-bearing platform (35); the interior top surface of the smart compartment (3) and the bottom surface of the load-bearing platform (35) are fixedly mounted with a visual camera (36) and a high-pressure cleaning mechanism (37); the bottom surface of the disinfectant storage mechanism (33) is fixedly mounted with a disinfectant spray pipe (38), and the disinfectant spray pipe (38) passes through the smart compartment (3) and the load-bearing platform (35).

2. The piglet transport vehicle with an automatic excrement and urine collection and cleaning system according to claim 1, characterized in that: The sealing push plate (26) and the baffle plate (27) are arranged as an integrated structure, and the length of the baffle plate (27) and the sealing push plate (26) is greater than the length of the feed trough on the top surface of the feces and urine treatment base plate (2), and the sealing push plate (26) and the baffle plate (27) are connected to the drying chamber (21) in a sliding manner. The drying chamber (21) is connected to the internal space of the liquid collection box (23) through the drainage trough at the rear end of the feces and urine treatment base plate (2), and the bottom end of the sealing partition door (28) is connected to the inner wall of the feces and urine treatment base plate (2) by magnetic adsorption.

3. The piglet transport vehicle with an automatic excrement and urine collection and cleaning system according to claim 2, characterized in that: The water delivery tank (32) is connected to the visual camera (36) through a water pipe, and the visual camera (36) and the water delivery tank (32) are symmetrically distributed on the intelligent compartment (3) and the load-bearing platform (35). The disinfectant storage mechanism (33) and the internal space of the disinfectant spray pipe (38) are interconnected, and the disinfectant spray pipe (38) is symmetrically distributed at equal intervals on the disinfectant storage mechanism (33), and spray holes are distributed around the disinfectant spray pipe (38) at equal intervals.

4. The piglet transport vehicle with an automatic excrement and urine collection and cleaning system according to claim 3, characterized in that: The load-bearing platform (35) and the guide partition plate (34) are connected by welding, and the load-bearing platform (35) is symmetrically distributed on the guide partition plate (34). The load-bearing platform (35) is provided with two groups, one upper and one lower. The internal spaces of the load-bearing platform (35) and the guide partition plate (34) are interconnected, and the internal bottom surface of the load-bearing platform (35) is an inclined surface structure. The top surface of the load-bearing platform (35) is provided with a feces and urine collection groove.

5. The automatic excrement and urine collection and cleaning system for a piglet transport vehicle with an automatic excrement and urine collection and cleaning system according to claim 4, characterized in that: The automatic excrement and urine collection and cleaning system is shown as follows: S1, a visual acquisition module, which uses a visual camera (36) to collect and pre-process images of the dirt area inside the smart compartment (3) in real time. A lighting system is provided on the top of the smart compartment (3) to identify the dirt area based on color. The smart compartment (3) area uses a single background color, and fecal and urine pollutants are identified by color segmentation, and the dirt area is marked and located; S2, a dirt cleaning module, which automatically cleans the pollutants in the smart compartment (3) by controlling a high-pressure cleaning system based on the dirt area marked by the visual acquisition module, wherein the high-pressure cleaning system is composed of a high-pressure cleaning mechanism (37) and a delivery water tank (32), wherein the delivery water tank (32) controls the spray water pressure, and the high-pressure cleaning mechanism (37) automatically adjusts the angle position to automatically clean the dirt on the internal surface of the smart compartment (3); S3, a ventilation system module, which is arranged on both sides of the smart compartment (3) through a ventilation system device (31), circulates air inside the smart compartment (3), and detects and controls the odor concentration, temperature and humidity inside the smart compartment (3); S4, a feces and urine guiding module, which is composed of a load-bearing platform (35) and a guide partition plate (34). The top surface of the load-bearing platform (35) is provided with a feces and urine collecting trough. The load-bearing platform (35) guides the feces and urine mixture into the interior of the guide partition plate (34). The feces and urine mixture falls into the drying chamber (21) through the interior space of the guide partition plate (34); S5, feces and urine separation processing module, the module is composed of a feces and urine processing bottom plate (2), a drying chamber (21), a filter plate (22), a liquid collection box (23), a heating plate (24), a hydraulic telescopic rod (25), a sealing push plate (26), a blocking plate (27) and a sealing partition door (28), the feces and urine mixture in the drying chamber (21) and the top surface of the heating plate (24), the liquid in the feces and urine mixture flows into the liquid collection box (23) through the drainage groove at the rear end of the feces and urine processing bottom plate (2), and the filter plate (22) The impurities are blocked, the heating plate (24) heats and dries the feces and a small amount of liquid in the feces and urine mixture inside the drying chamber (21), and the sealing push plate (26) is extended by the hydraulic telescopic rod (25) to push the dried feces inside the drying chamber (21), and the feces push the sealing partition door (28) to rotate and expand, and are discharged and cleaned from the rear end discharge port of the feces and urine processing bottom plate (2). During the movement of the sealing push plate (26), the blocking plate (27) is driven to move to prevent the feces and urine mixture in the feces and urine guiding module from entering the drying chamber (21); S6, an automatic disinfection module, which disinfects the interior of the smart compartment (3) through a disinfectant storage mechanism (33) and a disinfection spraying pipe (38), and evenly disinfects the interior of the smart compartment (3) through spray holes distributed on the disinfection spraying pipe (38); S7, Automation and Monitoring System: This system performs automated management through an integrated intelligent control platform, monitors the working status of each module in real time, and promptly feedbacks fault information and performs troubleshooting. The control platform is based on cloud computing technology and can analyze historical data and perform optimization adjustments to ensure efficient operation of the system under various working conditions.

6. The automatic feces and urine collection and cleaning system according to claim 5, characterized in that: The specific steps of the color-based pollution recognition of the visual acquisition module are as follows: S101, image acquisition and conversion, obtain the image inside the car through the camera and convert it from RGB color space to HSV color space. The formula is as follows: I HSV =f RGB → HSV (I RCB ) I RCB : Input RGB image, f RGB → HSV : RGB to HSV conversion function, output HSV space image I HSV ; S102, HSV threshold setting, setting the threshold value in the HSV color space for feces and urine, feces are yellow to brown, urine is yellow to light yellow, Fecal HSV threshold: H feces ∈(20°, 40°), S feces ∈(40%, 100%), V feces ∈(40%, 80%) Urine HSV threshold: H urine ∈(35°, 55°), S urine ∈(20%, 80%), V urine ∈(70%, 100%) H feces and H urine : Hue, indicating the basic type of color, S feces and S urine : Saturation, which indicates the purity or vividness of the color. V feces and V urine : Lightness, which indicates the brightness of the color; S103, color segmentation, use HSV threshold to image I HSV Perform color segmentation to extract the feces and urine areas, and generate two binary masks, corresponding to the feces area and urine area respectively. The formula is as follows: For the binary mask of feces, a value of 1 means that the pixel belongs to the feces area, and 0 means that it does not belong to the feces area. For the binary mask of urine, a value of 1 indicates that the pixel belongs to the urine area, and 0 indicates that the pixel does not belong to the urine area; S104, performing morphological operations on the generated binary masks of the feces region and urine region, including dilation and erosion, to remove noise and connect discontinuous regions; S105. Perform contour detection on the binary mask after morphological operation processing to obtain the contour boundaries of the feces area and the urine area, and draw contour boundary boxes so that each contour is included in a rectangular box to represent the spatial position of the feces or urine area, and transmit the spatial position information to the dirt cleaning module.

7. The automatic feces and urine collection and cleaning system according to claim 6, characterized in that: The dirt cleaning module includes water pressure control, spray angle adjustment and cleaning path planning, specifically: S201, water pressure control, adjust the water pressure for the feces and urine contaminated area, where the water pressure range of the feces area is P feces ∈[15bar, 40bar], the water pressure range of the urine area is P urine ∈[10bar,30bar]; S202, spray angle control, adjust according to the spatial position of the pollutant area, the spray angle for the feces area is θ feces ∈[15°, 90°], the spray angle range of the urine area is θ urine ∈[5°, 45°]; S203, automatically adjust the spray angle through the high-pressure nozzle, the formula is as follows: i nozzle =θ base +Δθ Among them, θ nozzle Indicates the injection angle after automatic adjustment, θ base represents the basic injection angle, Δθ represents the injection angle increment; S204, water flow control, adjust according to the area and pollution degree of the feces area or urine area to be cleaned, where the water flow range of the feces area is Q feces ∈[0.5L / min, 3L / min], the water flow range in the urine area is Q urine ∈[0.3L / min, 2L / min]; S205: Cleaning path planning. The cleaning path planning needs to be dynamically adjusted according to the distribution area of feces and urine.

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