Excrement pushing robot and excrement pushing system

Abstract

The invention relates to the technical field of agricultural robots, in particular to an excrement pushing robot and an excrement pushing system. The excrement pushing robot comprises a shell, a lifting mechanism, an environment sensing part and a cleaning part, the lifting mechanism comprises a connecting rod assembly, a lifting plate and a driving part used for driving the connecting rod assembly, the environment sensing part is connected to the lifting plate, the connecting rod assembly is connected with the shell and the lifting plate, and the cleaning part is connected to the connecting rod assembly. The connecting rod assembly is configured to drive the lifting plate to ascend and descend and synchronously drive the cleaning piece to move, the cleaning piece has a movement track, and the movement track passes through the environment sensing piece. When the driving part drives the connecting rod assembly to move, the lifting plate drives the environment sensing part to rise, so that the sensing range is expanded, and the recognition precision of the surrounding environment is improved. Meanwhile, the connecting rod assembly synchronously drives the cleaning part to move in the lifting process, the movement track of the cleaning part passes through the surface of the environment induction part, cleaning of the environment induction part is achieved through mechanical linkage, and the influence of dirt attachment on the induction precision is reduced.

Description

Technical Field

[0001] This application relates to the field of agricultural robot technology, and in particular to a manure-pushing robot and manure-pushing system. Background Technology

[0002] In modern animal husbandry, whether it's poultry, livestock, or special economic animals, the animals are all raised in concentrated areas. This inevitably generates waste, such as solid excrement and liquid waste from poultry and livestock farming, or other waste from special economic animals.

[0003] Because animals live in environments with large amounts of accumulated livestock waste, bacteria can easily breed and diseases can spread, affecting their health and growth. Therefore, frequent cleaning of livestock waste in activity areas is necessary. Currently, related technical solutions use manure-pushing robots for automated cleaning to improve efficiency and reduce manual labor. However, the accuracy of the map data constructed by these manure-pushing robots for the surrounding environment is insufficient, leading to a decrease in environmental recognition accuracy. Summary of the Invention

[0004] In view of this, this application provides a manure-pushing robot and manure-pushing system, which can improve the accuracy of environmental recognition.

[0005] In a first aspect, embodiments of this application provide a manure-pushing robot for automated cleaning of livestock waste in a farm. The manure-pushing robot includes a housing, a lifting mechanism, an environmental sensor, and a cleaning component. The lifting mechanism includes a linkage assembly, a lifting plate, and a drive component for driving the linkage assembly. The environmental sensor is connected to the lifting plate, the linkage assembly connects the housing and the lifting plate, and the cleaning component is connected to the linkage assembly. The linkage assembly is configured to simultaneously move the cleaning component while driving the lifting plate to rise and fall. The cleaning component has a motion trajectory that passes through the environmental sensor.

[0006] In some optional embodiments, the linkage assembly includes a first hinge end, a first sliding end, a second hinge end, and a second sliding end. The first hinge end is rotatably connected to the housing, the first sliding end is slidably engaged with the housing, the second hinge end is rotatably connected to the lifting plate, the second sliding end is slidably engaged with the lifting plate, and the second sliding end is connected to a cleaning component.

[0007] In some optional embodiments, the manure-pushing robot includes a linkage mechanism, which includes a guard plate and a linkage rod. The guard plate is located on the side of the lifting plate away from the housing and slides with the lifting plate. The sliding direction of the guard plate is the same as the sliding direction of the second sliding end. The cleaning component is located on the side of the guard plate facing the lifting plate. The linkage rod is connected to the guard plate, and the end of the linkage rod away from the guard plate is rotatably connected to the second sliding end.

[0008] In some optional embodiments, the manure-pushing robot includes a mounting box, which includes a base plate, a fixing plate, a first side plate, and a second side plate. The fixing plate is located on the side of the base plate and is simultaneously fixed to the lifting plate. The first side plate is connected to the same side of both the base plate and the fixing plate and is located below the movement trajectory to avoid the cleaning component. The second side plate is connected to the other side of both the base plate and the fixing plate. The first side plate and the second side plate are arranged facing each other. The base plate, the fixing plate, the first side plate, and the second side plate enclose a cavity, and an environmental sensor is located in the cavity.

[0009] In some optional embodiments, the manure-pushing robot includes a protective plate, a linkage assembly connecting the protective plate to drive the cleaning component to move, and a shielding component disposed on the side of the protective plate facing the lifting plate and spaced apart from the cleaning component; the environmental sensor has a retracted state, when the environmental sensor is in the retracted state, the protective plate and the base plate are facing each other, the side of the fixing plate away from the base plate is close to the protective plate, the cleaning component is located above the second side plate, and the shielding component is located above the first side plate.

[0010] In some alternative embodiments, the side of the protective plate is provided with a shielding plate, which is disposed facing the fixing plate and close to the first side plate and the second side plate to close the cavity.

[0011] In some alternative embodiments, the base plate is provided with a dust removal component, and an environmental sensor is located on the side of the dust removal component away from the base plate. The dust removal component is used to generate a directional airflow towards the environmental sensor.

[0012] In some alternative embodiments, the manure-pushing robot includes a walking mechanism and a material-pushing mechanism. The walking mechanism includes walking wheels located at least partially below the housing and a support plate located at the bottom of the housing. The walking wheels are rotatably connected to the housing. The material-pushing mechanism includes a material-pushing plate located at the bottom of the housing and located on one side of the walking wheel's forward direction.

[0013] In some alternative embodiments, the peripheral sidewall of the housing is provided with a docking groove, the top wall of the docking groove is provided with a docking electrode, and a baffle is rotatably provided on the sidewall of the docking groove to block the opening of the docking groove.

[0014] Secondly, embodiments of this application provide a manure-pushing system, including the manure-pushing robot in the optional embodiments described above and a supply station for docking with the manure-pushing robot. The supply station includes a fixed base, a charging electrode, and a water supply connector. The charging electrode and the water supply connector are floatingly connected to the fixed base via a flexible support frame. The flexible support frame includes an elastic deformation portion, which allows the charging electrode and the water supply connector to deflect to adapt to the docking posture.

[0015] The manure-pushing robot of this application enhances environmental perception and maintains the cleanliness of sensing components through a coordinated design of a lifting mechanism, environmental sensors, and a cleaning component. Specifically, when the drive unit moves the linkage assembly, the lifting plate raises the environmental sensor to a better height, thereby expanding the sensing range and improving the accuracy of environmental recognition. Simultaneously, the linkage assembly moves the cleaning component during the lifting process. Since the cleaning component's trajectory passes over the surface of the environmental sensor, it cleans the sensor through mechanical linkage, reducing the impact of dirt adhesion on sensing accuracy. This design eliminates the need for separate control of the cleaning component; cleaning is automatically completed during the lifting of the environmental sensor. This optimizes environmental data collection and ensures the continuous reliability of the environmental sensor, enabling the manure-pushing robot to stably perform automated cleaning operations in complex livestock environments. Attached Figure Description

[0016] Figure 1 This is a perspective view of a manure-pushing robot in one embodiment of this application, showing the bottom view of the manure-pushing robot.

[0017] Figure 2 This is a perspective view of a supply station in one embodiment of this application.

[0018] Figure 3 This is a perspective view of a manure-pushing robot in one embodiment of this application, wherein the environmental sensing element is in operation.

[0019] Figure 4 This is a perspective view of the bottom of the lifting plate in one embodiment of this application.

[0020] Figure 5 yes Figure 3 Enlarged view of part A in the middle.

[0021] Figure 6 This is a front view of a manure-pushing robot in one embodiment of this application, wherein the shielding plate is partially hidden to reveal the environmental sensors in a stowed state.

[0022] Figure 7 This is a perspective view of a manure-pushing robot in one embodiment of this application, showing the docking electrode and water injection connector.

[0023] Explanation of main component symbols 100. Manure-pushing robot; 110. Shell; 111. Groove; 112. Spray head; 113. Docking groove; 1131. Docking electrode; 1132. Baffle; 1133. Water injection connector; 120. Walking mechanism; 121. Walking wheel; 122. Support plate; 130. Pushing mechanism; 131. Pushing plate; 132. Auxiliary push plate; 141. Environmental sensor; 142. Magnetic sensor; 143. Distance sensor; 144. Camera; 150. Lifting mechanism; 151. Linkage assembly; 1511. First link; J1. First hinge end; 1512. Second link; F1. First sliding end; 1513. 1. Third link; J2. Second hinge end; 1514. Fourth link; F2. Second sliding end; 152. Lifting plate; 1521. Long slot; 153. Driving component; 160. Linkage mechanism; 161. Cleaning component; 162. Guard plate; 163. Linkage rod; 164. Shielding component; 165. Shielding plate; 170. Mounting box; 171. Base plate; 172. Fixing plate; 173. First side plate; 174. Second side plate; 175. Cavity; 176. Dust removal component; 200. Supply station; 210. Fixing seat; 220. Charging electrode; 230. Water supply connector; 240. Flexible support frame; 241. Elastic deformation part. Detailed Implementation

[0024] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose, the following description, in conjunction with the accompanying drawings and embodiments, is provided. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0026] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the embodiments and features described below can be combined with each other.

[0027] Please see Figure 1 and Figure 2One embodiment of this application provides a manure-pushing system for automated cleaning of livestock waste in farms. The farmed animals include livestock, poultry, or special economic animals. Livestock includes, but is not limited to, cattle (e.g., dairy cows, beef cattle), pigs (e.g., breeding pigs, fattening pigs), sheep (e.g., sheep, goats), horses, donkeys, and other domesticated animals. Poultry includes chickens (laying hens, broilers), ducks (meat ducks, laying ducks), geese, turkeys, quails, pigeons, and other economic poultry. Special economic animals include medicinal animals (deer, musk deer, scorpions), ornamental animals (peacocks, ostriches), and laboratory animals (beagles, macaques), etc.

[0028] The following detailed explanation uses medium and large livestock that require frequent manure cleaning under intensive farming models as an example. The waste cleaning process for other types of farmed animals can refer to this plan and will not be elaborated here.

[0029] The manure pushing system includes a manure pushing robot 100 and a supply station 200 for docking with the manure pushing robot 100. After the manure pushing robot 100 docks with the supply station 200, the supply station 200 can replenish the manure pushing robot 100 with energy, purify water, or exchange data.

[0030] In some embodiments, the manure-pushing robot 100 includes a housing 110, a walking mechanism 120, a material-pushing mechanism 130, an environmental sensing module, and a control system (not shown).

[0031] The walking mechanism 120 carries the housing 110 and drives it to move autonomously within the farm passageway. The pushing mechanism 130 is located at the lower front of the housing 110 and is used to push manure of different consistency to the designated collection area during movement. An environmental sensing module is integrated into the outer surface of the housing 110 and includes one or more of LiDAR, vision sensors, distance sensors, and cameras to monitor the distribution of manure and the boundaries of the farm passageway in real time. The control system plans the optimal cleaning path based on environmental data and dynamically adjusts the operating parameters of the pushing mechanism 130, such as speed and direction, to adapt to the cleaning needs of different types of livestock excrement while avoiding collisions with farm facilities or livestock.

[0032] In some embodiments, the walking mechanism 120 includes walking wheels 121 located at least partially below the housing 110, a support plate 122 disposed at the bottom of the housing 110, and a drive module (not shown). The drive module includes a waterproof motor, and the walking wheels 121 are rotatably connected to the housing 110 via axles and are directly driven by the waterproof motor. Two walking wheels 121 are provided and have differential steering functionality. The support plate 122 extends downward to contact the ground, forming a multi-point support structure to enhance the stability of the manure-pushing robot 100 during walking.

[0033] In some embodiments, the pushing mechanism 130 includes a pushing plate 131 disposed at the bottom of the housing 110, located on one side of the traveling wheel 121 in the forward direction. The pushing plate 131 adopts an arc-shaped design with its concave surface facing forward, forming a natural collection surface that can more effectively gather and push feces. At the same time, the arc-shaped concave structure can reduce resistance during the pushing process, allowing feces to move smoothly along the curved surface and avoiding splashing.

[0034] In this embodiment, the support plate 122 is located in front of the pusher plate 131, which can guide and pre-sort the feces before the pusher plate 131 comes into contact with the feces, making the subsequent pushing action smoother.

[0035] Please see Figure 1 and Figure 3 In some embodiments, the manure-pushing robot 100 further includes a lifting mechanism 150. The lifting mechanism 150 includes a linkage assembly 151, a lifting plate 152, and a drive member 153 for driving the linkage assembly 151. The linkage assembly 151 connects the housing 110 and the lifting plate 152. The drive member 153 drives the linkage assembly 151 to move, thereby causing the lifting plate 152 to rise and fall.

[0036] The environmental perception module includes an environmental sensor 141, which is connected to the lifting plate 152 to move synchronously with it. The environmental sensor 141 has an active state and a retracted state. When the lifting plate 152 rises to an appropriate height, the environmental sensor 141 identifies the surrounding environment and is in the active state. When the lifting plate 152 descends to its lowest point, the environmental sensor 141 is in the retracted state, which improves the manure-pushing robot 100's manure-pushing ability to maneuver.

[0037] The manure-pushing robot 100 also includes a cleaning component 161, which is connected to a linkage assembly 151. The linkage assembly 151 is configured to simultaneously drive the cleaning component 161 to move while the lifting plate 152 is raised and lowered. The cleaning component 161 has a motion trajectory, which passes through an environmental sensor 141.

[0038] When the drive unit 153 extends the linkage assembly 151, the lifting plate 152 raises the environmental sensor 141 to a better height, thereby expanding the sensing range and improving the accuracy of identifying the surrounding environment. Simultaneously, the linkage assembly 151 moves the cleaning component 161 during the lifting process. Since the movement trajectory of the cleaning component 161 passes over the surface of the environmental sensor 141, cleaning is achieved through mechanical linkage, reducing the impact of dirt adhesion on sensing accuracy. This design eliminates the need for separate control of the cleaning component 161; cleaning is automatically completed during the lifting of the environmental sensor 141. This optimizes the environmental data collection effect and ensures the continuous reliability of the environmental sensor 141, helping the manure-pushing robot 100 to stably perform automated cleaning operations in complex aquaculture environments.

[0039] In this embodiment, the environmental sensor 141 is a lidar, which can obtain a three-dimensional point cloud map of the surrounding environment in real time for positioning and navigation. In other embodiments, the environmental sensor 141 can be a millimeter-wave radar, a camera 144, etc.

[0040] Please see Figure 3 and Figure 4 In some embodiments, the linkage assembly 151 includes a first linkage 1511, a second linkage 1512, a third linkage 1513, and a fourth linkage 1514, with the first linkage 1511 and the second linkage 1512 arranged in an intersecting manner, and the third linkage 1513 and the fourth linkage 1514 arranged in an intersecting manner.

[0041] The lower end of the first link 1511 is rotatably connected to the upper surface of the housing 110 via a hinge seat, and the lower end of the second link 1512 is slidably connected to the upper surface of the housing 110 via a guide rail. The first link 1511 and the second link 1512 are rotatably connected at the middle part of their respective rods via a pin.

[0042] The upper end of the third link 1513 is rotatably connected to the lower surface of the lifting plate 152 via a hinge seat, and the upper end of the fourth link 1514 is slidably connected to the lower surface of the lifting plate 152 via a guide rail. The third link 1513 and the fourth link 1514 are rotatably connected at the middle part of their respective rods via a pin.

[0043] The upper end of the first link 1511 and the lower end of the third link 1513 are rotatably connected by a pin, and the upper end of the second link 1512 and the lower end of the fourth link 1514 are rotatably connected by a pin. The driving component 153 has a fixed end and a driving end, the fixed end being rotatably connected to the second link 1512, and the driving end being rotatably connected to the fourth link 1514.

[0044] The linkage assembly 151 includes a first hinge end J1, a first sliding end F1, a second hinge end J2, and a second sliding end F2. The first hinge end J1 is rotatably connected to the housing 110, and the first sliding end F1 is slidably engaged with the housing 110. The second hinge end J2 is rotatably connected to the lifting plate 152, and the second sliding end F2 is slidably engaged with the lifting plate 152. Specifically, the first hinge end J1 is the lower end of the first connecting rod 1511, the first sliding end F1 is the lower end of the second connecting rod 1512, the second hinge end J2 is the upper end of the third connecting rod 1513, and the second sliding end F2 is the upper end of the fourth connecting rod 1514.

[0045] In other embodiments, the first hinge end J1 is the lower end of the second link 1512, the first sliding end F1 is the lower end of the first link 1511, the second hinge end J2 is the upper end of the third link 1513, and the second sliding end F2 is the upper end of the fourth link 1514.

[0046] The second sliding end F2 is connected to the cleaning component 161. During the lifting and lowering process, the linkage assembly 151 drives the cleaning component 161 to move synchronously through the upper end of the fourth linkage 1514. Since the movement trajectory of the cleaning component 161 passes through the surface of the environmental sensor 141, the environmental sensor 141 is cleaned through mechanical linkage, reducing the impact of dirt adhesion on the sensing accuracy.

[0047] It is worth noting that in this embodiment, the first link 1511, the second link 1512, the third link 1513 and the fourth link 1514 each include two parallel and spaced-apart rods, thereby improving the operational stability of the link assembly 151.

[0048] In other embodiments, the linkage assembly 151 includes only a first linkage 1511 and a second linkage 1512, which are arranged in a cross configuration to drive the lifting plate 152 to move.

[0049] In other embodiments, the first link 1511 and the second link 1512 form a bottom link group, and the third link 1513 and the fourth link 1514 form a top link group. Multiple intermediate link groups can be provided between the bottom and top link groups to increase the lifting height of the lifting plate 152.

[0050] In some embodiments, the manure-pushing robot 100 includes a linkage mechanism 160, which includes a guard plate 162 and a linkage rod 163. The guard plate 162 is located on the side of the lifting plate 152 away from the housing 110 and slides with the lifting plate 152. The sliding direction of the guard plate 162 is the same as the sliding direction of the second sliding end F2. The cleaning component 161 is located on the side of the guard plate 162 facing the lifting plate 152.

[0051] The lifting plate 152 is provided with a long groove 1521 running vertically through it. A linkage rod 163 passes through this groove 1521 to connect the guard plate 162 to the second sliding end F2. The end of the linkage rod 163 furthest from the guard plate 162 is rotatably connected to the second sliding end F2, allowing the guard plate 162 to slide synchronously with the movement of the second sliding end F2. Simultaneously, the guiding effect of the long groove 1521 ensures the accuracy of the movement trajectory. The relative movement of the linkage rod 163 within the long groove 1521 ensures the smooth movement of the guard plate 162, enabling the cleaning component 161 to maintain the optimal relative position with the environmental sensor 141, thereby effectively improving cleaning performance and operational reliability.

[0052] Please see Figures 3 to 5 In some embodiments, the manure-pushing robot 100 includes a mounting box 170, which includes a base plate 171, a fixing plate 172, a first side plate 173, and a second side plate 174. The fixing plate 172 is located on the side of the base plate 171 and is simultaneously fixed to the lifting plate 152. The first side plate 173 connects to the same side of both the base plate 171 and the fixing plate 172 and is located below the movement trajectory to avoid the cleaning component 161. The second side plate 174 connects to the other side of both the base plate 171 and the fixing plate 172. The first side plate 173 and the second side plate 174 are arranged facing each other. The base plate 171, the fixing plate 172, the first side plate 173, and the second side plate 174 enclose a cavity 175, in which an environmental sensor 141 is located.

[0053] Please see Figures 4 to 6 In some embodiments, the manure-pushing robot 100 includes a shielding member 164, which is disposed on the side of the protective plate 162 facing the lifting plate 152 and spaced apart from the cleaning member 161. When the environmental sensor 141 is in the retracted state, the protective plate 162 and the base plate 171 face each other, the side of the fixing plate 172 away from the base plate 171 is close to the protective plate 162, the cleaning member 161 is located above the second side plate 174, and the shielding member 164 is located above the first side plate 173.

[0054] In this embodiment, both the cleaning component 161 and the shielding component 164 employ a flexible brush structure. The flexibility of the brush allows it to better conform to the surface contour of the environmental sensor 141, improving cleaning performance. The flexibility of the brush prevents wear or scratches on the surface of the environmental sensor 141 during cleaning, effectively protecting the precision sensing element. The brush has good elastic deformation capabilities, adapting to positional deviations during lifting and lowering while maintaining appropriate contact pressure. Furthermore, the brush structure possesses excellent stain resistance and corrosion resistance, maintaining stable cleaning performance over long periods in humid, fecal-rich environments.

[0055] In some embodiments, the side of the protective plate 162 is provided with a shielding plate 165, which is disposed facing the fixing plate 172 and close to the first side plate 173 and the second side plate 174 to close the cavity 175, thereby protecting the environmental sensor 141 and improving the problem of the environmental sensor 141 being damaged or contaminated.

[0056] In some embodiments, the base plate 171 is provided with a dust removal component 176, and the ambient sensing component 141 is disposed on the side of the dust removal component 176 away from the base plate 171. The dust removal component 176 is used to generate a directional airflow towards the ambient sensing component 141 to improve the problem of dust accumulation on the surface of the ambient sensing component 141, and at the same time to dissipate heat from the ambient sensing component 141. In this embodiment, the dust removal component 176 is a cooling fan.

[0057] Please see Figure 1 In some embodiments, the pushing mechanism 130 further includes two auxiliary pushing plates 132, which are respectively disposed on both sides of the pushing plate 131. The auxiliary pushing plates 132 are flat and can prevent the feces from scattering to both sides during the pushing process, ensuring that the feces are pushed in a concentrated manner in a predetermined direction.

[0058] In some embodiments, the environmental perception module further includes a magnetic sensor 142, which is located at the bottom of the housing 110. The magnetic sensor 142 can detect signals from preset magnetic strips or nails on the farm floor, providing a stable navigation reference for the manure-pushing robot 100, enabling it to move accurately along a predetermined path. The magnetic sensor 142 is positioned behind the pushing plate 131, which helps to reduce interference from dirt during the pushing operation and ensures the reliability of signal detection.

[0059] In some embodiments, the bottom of the housing 110 has two symmetrically arranged transversely formed grooves 111, whose positions correspond to the layout of the wheels 121. The environmental perception module also includes a ranging sensor 143, which is installed in the corresponding groove 111. The groove 111 structure provides good protection for the ranging sensor 143, effectively avoiding the impact of external collisions and manure splashes on the ranging sensor 143. At the same time, this installation method enables the manure-pushing robot 100 to monitor the distance to the boundaries of the farm passage in real time during its movement.

[0060] In some embodiments, the environmental perception module further includes a camera 144, which is located at the front of the periphery of the housing 110 and can identify obstacles in the area in front, enabling the manure-pushing robot 100 to flexibly avoid obstacles when it is moving.

[0061] In some embodiments, a water spray head 112 is provided on the front of the periphery of the housing 110. The water spray head 112 is located below the camera 144 and is used to spray water on the ground continuously, so that the feces on the ground are in a wet state, which makes it easier for the pusher plate 131 to move.

[0062] Please see Figure 2 and Figure 7 In some embodiments, the peripheral sidewall of the housing 110 is provided with a docking groove 113, the top wall of the docking groove 113 is provided with a docking electrode 1131, and a baffle 1132 is rotatably provided on the sidewall of the docking groove 113. The baffle 1132 is used to block the opening of the docking groove 113 and improve the problem of the docking electrode 1131 being damaged or contaminated.

[0063] The docking groove 113 is also equipped with a water injection connector 1133, which is located below the docking electrode 1131, so as to inject water into the manure pushing robot 100 through the water injection connector 1133.

[0064] In some embodiments, the refueling station 200 includes a fixed base 210, a charging electrode 220, and a water supply connector 230. The charging electrode 220 and the water supply connector 230 are floatingly connected to the fixed base 210 via a flexible support frame 240. The flexible support frame 240 includes an elastic deformation portion 241, which allows the charging electrode 220 and the water supply connector 230 to deflect to adapt to the docking posture.

[0065] In some embodiments, the charging electrode 220 and the water supply connector 230 are floatingly connected to the fixed base 210 via different flexible support frames 240. In other embodiments, the charging electrode 220 and the water supply connector 230 are floatingly connected to the fixed base 210 via the same flexible support frame 240.

[0066] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A manure-pushing robot for automated cleaning of livestock waste in farms, characterized in that, The device includes a housing, a lifting mechanism, an environmental sensor, and a cleaning component. The lifting mechanism includes a linkage assembly, a lifting plate, and a drive component for driving the linkage assembly. The environmental sensor is connected to the lifting plate. The linkage assembly connects the housing and the lifting plate. The cleaning component is connected to the linkage assembly. The linkage assembly is configured to simultaneously move the cleaning component while driving the lifting plate to rise and fall. The cleaning component has a motion trajectory that passes through the environmental sensor.

2. The manure-pushing robot as described in claim 1, characterized in that, The linkage assembly includes a first hinge end, a first sliding end, a second hinge end, and a second sliding end. The first hinge end is rotatably connected to the housing, and the first sliding end is slidably engaged with the housing. The second hinge end is rotatably connected to the lifting plate, and the second sliding end is slidably engaged with the lifting plate. The second sliding end is also connected to the cleaning component.

3. The manure-pushing robot as described in claim 2, characterized in that, The manure-pushing robot includes a linkage mechanism, which includes a guard plate and a linkage rod. The guard plate is located on the side of the lifting plate away from the housing and slides with the lifting plate. The sliding direction of the guard plate is the same as the sliding direction of the second sliding end. The cleaning component is located on the side of the guard plate facing the lifting plate. The linkage rod is connected to the guard plate, and the end of the linkage rod away from the guard plate is rotatably connected to the second sliding end.

4. The manure-pushing robot as described in claim 1, characterized in that, The manure-pushing robot includes a mounting box, which includes a base plate, a fixing plate, a first side plate, and a second side plate. The fixing plate is located on the side of the base plate and is simultaneously fixed to the lifting plate. The first side plate is connected to the same side of both the base plate and the fixing plate and is located below the movement trajectory to avoid the cleaning component. The second side plate is connected to the other side of both the base plate and the fixing plate. The first side plate and the second side plate are arranged facing each other. The base plate, the fixing plate, the first side plate, and the second side plate enclose a cavity, and the environmental sensor is located in the cavity.

5. The manure-pushing robot as described in claim 4, characterized in that, The manure-pushing robot includes a protective plate, and a linkage assembly connects the protective plate to drive the cleaning component to move. The manure-pushing robot also includes a shield, which is located on the side of the protective plate facing the lifting plate and spaced apart from the cleaning component. The environmental sensor has a retracted state. When the environmental sensor is in the retracted state, the protective plate and the base plate face each other, the side of the fixing plate away from the base plate is close to the protective plate, the cleaning component is located above the second side plate, and the shield is located above the first side plate.

6. The manure-pushing robot as described in claim 5, characterized in that, The protective plate has a shielding plate on its side, which is arranged facing the fixing plate and close to the first side plate and the second side plate to close the cavity.

7. The manure-pushing robot as described in claim 4, characterized in that, The base plate is equipped with a dust removal component, and the environmental sensor is located on the side of the dust removal component away from the base plate. The dust removal component is used to generate a directional airflow towards the environmental sensor.

8. The manure-pushing robot as described in claim 1, characterized in that, The manure-pushing robot includes a walking mechanism and a material-pushing mechanism. The walking mechanism includes walking wheels located at least partially below the housing and a support plate located at the bottom of the housing. The walking wheels are rotatably connected to the housing. The material-pushing mechanism includes a material-pushing plate located at the bottom of the housing, and the material-pushing plate is located on one side of the walking wheel's forward direction.

9. The manure-pushing robot as described in claim 8, characterized in that, The peripheral sidewall of the housing is provided with a docking groove, the top wall of the docking groove is provided with a docking electrode, and a baffle is rotatably provided on the sidewall of the docking groove to block the opening of the docking groove.

10. A manure pushing system, characterized in that, The invention includes a manure-pushing robot as described in any one of claims 1 to 9 and a refueling station for docking the manure-pushing robot. The refueling station includes a fixed base, a charging electrode, and a water supply connector. The charging electrode and the water supply connector are floatingly connected to the fixed base via a flexible support frame. The flexible support frame includes an elastic deformation portion, which allows the charging electrode and the water supply connector to deflect to adapt to the docking posture.

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