Self-cleaning type automatic milk feeding machine for feeding calves

Abstract

The invention provides a self-cleaning type milk automatic feeding machine for calf feeding, which comprises a self-moving positioning trolley, a milk feeding mechanism and a cleaning and disinfecting mechanism, the milk feeding mechanism comprises a milk storage tank, a milk conveying pump, a mechanical arm, a milk basin, a first visual sensor and a controller, the milk basin is arranged at the free end of the mechanical arm, and the first visual sensor is arranged at the free end of the mechanical arm; the first visual sensor is arranged over the mechanical arm, the cleaning and disinfecting mechanism is arranged on one side of the mechanical arm, the milk conveying pump, the mechanical arm and the first visual sensor are electrically connected with the controller, and the self-moving positioning trolley automatically moves to feeding windows of all the calf islands according to a preset route. The first visual sensor is used for positioning the feeding window and obtaining position information of the feeding window, the controller controls the mechanical arm to extend the milk feed basin to the feeding window according to the position information and controls the milk feed conveying pump to convey milk feed into the milk feed basin according to a preset dosage, and after feeding is completed every time, the milk feed is conveyed to the feeding window through the milk feed conveying pump; and the milk basin is transferred into the cleaning and disinfecting mechanism to be cleaned and disinfected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of calf feeding, in particular to a self-cleaning milk material automatic feeding machine for calf feeding. BACKGROUND

[0002] Calf breeding is a key link in livestock production, and its healthy growth directly affects the milk production performance of adult dairy cows and the economic benefits of breeding. Milk material feeding, as the core process of calf breeding, has strict requirements on feeding time, feeding dose, feeding hygiene and feeding efficiency.

[0003] At present, the industry generally uses fixed milk material pots for calf milk material feeding, that is, a milk material pot is arranged at the feeding window of each calf island, and feeding is carried out by a milk material feeding vehicle. For example, a kind of pasture calf quantitative feeding equipment disclosed in the authorized announcement No. CN217117216U installs a milk tank on the tank car, and a milk outlet pipe is arranged at the tail of the milk tank. The milk outlet pipe is connected with a pump body, and the pump body is connected with a feeding pipe. The milk material is quantitatively added in each milk pot through the feeding pipe.

[0004] This feeding method needs to be assisted by manually holding the feeding pipe, which is time-consuming and laborious, and not convenient. In addition, since the milk material is rich in protein, lactose and other nutrients, after the calf eats, the inner wall of the pot is easy to leave milk residue. If it is not thoroughly cleaned and disinfected within a short time, the residual residue will quickly breed bacteria, mold and other pathogens, forming stubborn dirt. When feeding again, pathogens are easy to be ingested by calves with milk material, leading to the spread of digestive diseases such as diarrhea and enterogastritis. In severe cases, it can also cause group infection. In order to avoid the occurrence of the above problems, the prior art needs to clean and disinfect the milk pot by manual cleaning before feeding, which not only increases the additional labor, but also has the problems of easy omission, incomplete cleaning, inconvenience, untimely and the like. SUMMARY

[0005] Therefore, it is necessary to provide a self-cleaning milk material automatic feeding machine for calf feeding to solve the technical problems of inconvenient and untimely cleaning of the milk pot in the prior art.

[0006] The technical scheme adopted by the present application to solve its technical problems is:

[0007] The utility model provides a kind of calf feeding self-cleaning formula milk material automatic feeding machine, including self-moving positioning trolley and be set on self-moving positioning trolley milk material feeding mechanism and cleaning and disinfecting mechanism, milk material feeding mechanism includes milk material storage tank, milk material conveying pump, mechanical arm, milk material basin, first vision sensor and controller, the fixed end of the mechanical arm is fixedly connected with self-moving positioning trolley, milk material basin is arranged at the free end of mechanical arm, the input end of milk material conveying pump is communicated with milk material storage tank, its output end is towards milk material basin, first vision sensor is arranged directly above mechanical arm, cleaning and disinfecting mechanism is arranged at one side of mechanical arm, milk material conveying pump, mechanical arm, first vision sensor are electrically connected with controller respectively, the self-moving positioning trolley can be according to preset route self-moves to the feeding window of each calf island, the first vision sensor is used to position feeding window, obtains the position information of feeding window, and the position information of feeding window is transmitted to controller, the controller is according to the position information of first vision sensor transmission, corresponding control mechanical arm will milk material basin extend to feeding window, and control milk material conveying pump according to preset dose will milk material be conveyed to milk material basin and be fed, and after each feeding is completed, the controller controls mechanical arm and turns into cleaning and disinfecting mechanism in milk material basin and is retracted, and milk material basin is cleaned and disinfected by cleaning and disinfecting mechanism processing.

[0008] Preferably, the milk material feeding mechanism further comprises an information collector, which is disposed on the first vision sensor or the mechanical arm and electrically connected with the controller. An information identification tag corresponding to the information of the calves fed in each calf island is disposed at the feeding window of the calf island. The information collector can read the information of the calves in each information identification tag and transmit the read information of the calves to the controller. The controller receives the information of the calves transmitted by the information collector and controls the milk material conveying pump to feed the milk material in the milk material basin according to the preset dose according to the information of the calves.

[0009] Preferably, the cleaning and disinfecting mechanism comprises a clean water storage tank, a disinfectant storage tank, a waste liquid storage tank and an open-top cleaning tank arranged on the self-moving positioning trolley, the cleaning tank is arranged on one side of the mechanical arm, the mechanical arm can transfer the milk material basin after each feeding into the cleaning tank, a plurality of spray heads are arranged on the inner wall of the cleaning tank, the plurality of spray heads are arranged around the cleaning tank, and the spray ports of the spray heads are all directed to the milk material basin entering the cleaning tank, a first water pump is arranged on the clean water storage tank, a second water pump is arranged on the disinfectant storage tank, the input ends of the first water pump and the second water pump are respectively communicated with the clean water storage tank and the disinfectant storage tank, the output ends of the first water pump and the second water pump are respectively communicated with the spray heads, the control ends of the first water pump and the second water pump are electrically connected with the controller, the controller can control the first water pump and the second water pump to work respectively, and the clean water or the disinfectant is delivered to the spray heads to clean and disinfect the milk material basin in the cleaning tank, and the waste liquid storage tank is arranged below the cleaning tank and is communicated with the bottom of the cleaning tank to store the waste liquid after cleaning and disinfecting.

[0010] Preferably, the upper end of the cleaning tank is surrounded by a flexible protective sleeve which is inwardly retracted, and the milk material basin can pass through the protective sleeve to enter the cleaning tank.

[0011] Preferably, the self-moving positioning trolley is further provided with an open-top milk material recovery tank, the milk material recovery tank is arranged on one side of the mechanical arm and adjacent to the cleaning tank, the controller can control the mechanical arm to recover the milk material basin after feeding and transfer it into the milk material recovery tank, and then control the mechanical arm to overturn the milk material basin, pour the remaining milk material in the milk material basin into the milk material recovery tank, and then control the milk material basin to enter the cleaning tank for cleaning and disinfecting.

[0012] Preferably, a milk material recovery storage tank is arranged below the milk material recovery tank, and the bottom of the milk material recovery tank is communicated with the feed inlet of the milk material recovery storage tank.

[0013] Preferably, the output end of the milk material conveying pump is provided with a first flow meter, the first flow meter is electrically connected with the controller, the first flow meter detects the output flow of the milk material and feeds back the output flow information to the controller, and the controller controls the milk material conveying pump to output a preset dose of milk material according to the output flow information fed back by the first flow meter.

[0014] Preferably, a second flow meter is arranged on the feed inlet of the milk material recovery storage tank, the second flow meter is electrically connected with the controller, the second flow meter is used for detecting the recovery flow of the milk material and feeding back the recovery flow information to the controller for recording.

[0015] Preferably, the mechanical arm is a multi-degree-of-freedom mechanical arm.

[0016] Preferably, the calf feeding self-cleaning formula milk feeding automatic feeder further comprises a remote control terminal, a wireless communication module is arranged on the self-moving positioning trolley, the wireless communication module is electrically connected with the control end and the controller of the self-moving positioning trolley, and the wireless communication module establishes a communication connection with the remote control terminal, the wireless communication module receives the remote control instruction of the remote control terminal and uploads the equipment working state data to the remote control terminal.

[0017] From the above technical solution, the calf feeding self-cleaning formula milk feeding automatic feeder provided by the application has the advantages that,

[0018] By arranging the milk feeding mechanism and the cleaning and disinfecting mechanism on the self-moving positioning trolley, the milk feeding mechanism comprises a milk storage tank, a milk conveying pump, a mechanical arm, a milk basin, a first visual sensor and a controller, the self-moving positioning trolley moves to the feeding window of each calf island according to a preset route, the first visual sensor is used for positioning the feeding window, the controller controls the mechanical arm to extend the milk basin to the feeding window according to the position information transmitted by the first visual sensor, controls the milk conveying pump to convey the milk into the milk basin for feeding according to a preset dose, and after each feeding is completed, the controller controls the mechanical arm to retract the milk basin and transfer it into the cleaning and disinfecting mechanism for cleaning and disinfecting treatment, which has the beneficial effects that: the self-moving positioning trolley and the milk feeding mechanism can realize automatic feeding, reduce manual labor, improve the convenience of feeding calves, and abandon the traditional fixed milk basin feeding mode, so that the milk basin moves with the self-moving positioning trolley and is cleaned and disinfected immediately after each feeding, which can kill bacteria and disinfect while removing milk residues, realizes isolated feeding of "one calf one feeding", solves the problems of inconvenient and untimely manual cleaning, easy omission and the like, reduces the risk of calf digestive tract diseases and epidemic disease transmission from the feeding source, and is beneficial to improving the health degree and growth quality of calves. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a side view structure schematic diagram of the application.

[0020] Figure 2 It is a front view structure schematic diagram of the application.

[0021] Figure 3 It is a perspective structure schematic diagram of the application.

[0022] Figure 4 It is another angle perspective structure schematic diagram of the application.

[0023] Figure 5 It is a structure schematic diagram of the milk basin entering the milk recovery groove.

[0024] Figure 6Structure diagram of milk material basin entering the cleaning tank.

[0025] Figure 7 Schematic diagram of feeding state of the application.

[0026] Figure 8 Schematic diagram of box type structure of the self-moving positioning trolley.

[0027] Figure 9 Schematic diagram of closing state of the movable door.

[0028] Figure 10 Schematic diagram of functional module of the application.

[0029] In the figure: self-moving positioning trolley 10, movable door 11, wireless communication module 12, milk material feeding mechanism 20, milk material storage tank 21, milk material conveying pump 22, conduit 221, mechanical arm 23, milk material basin 24, first visual sensor 25, controller 26, information collector 27, first flow meter 28, second visual sensor 29, cleaning and disinfecting mechanism 30, clean water storage tank 31, disinfectant storage tank 32, waste liquid storage tank 33, cleaning tank 34, spray head 35, first water pump 36, second water pump 37, protective sleeve 38, connecting pipe 39, electromagnetic valve 391, milk material recovery tank 40, milk material recovery storage tank 41, second flow meter 42, calf island 50, feeding window 51, information identification tag 52, remote control terminal 60. DETAILED DESCRIPTION

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0031] Please refer to Figures 1 to 4The embodiment of the present application provides a self-cleaning milk feeding automatic feeding machine for calf feeding, which comprises a self-moving positioning trolley 10, a milk feeding mechanism 20 and a cleaning and disinfecting mechanism 30 arranged on the self-moving positioning trolley 10, the milk feeding mechanism 20 comprises a milk storage tank 21, a milk conveying pump 22, a mechanical arm 23, a milk basin 24, a first visual sensor 25 and a controller 26, the fixed end of the mechanical arm 23 is fixedly connected with the self-moving positioning trolley 10, the milk basin 24 is arranged at the free end of the mechanical arm 23, the input end of the milk conveying pump 22 is communicated with the milk storage tank 21, the output end of the milk conveying pump 22 faces the milk basin 24, the first visual sensor 25 is arranged directly above the mechanical arm 23, the cleaning and disinfecting mechanism 30 is arranged at one side of the mechanical arm 23 and located within the working radius of the mechanical arm 23, the milk conveying pump 22, the mechanical arm 23 and the first visual sensor 25 are electrically connected with the controller 26, the self-moving positioning trolley 10 can move to the feeding window 51 of each calf island 50 according to a preset route, the first visual sensor 25 is used for positioning the feeding window 51, acquiring the position information of the feeding window 51 and transmitting the position information of the feeding window 51 to the controller 26, the controller 26 controls the mechanical arm 23 to extend the milk basin 24 to the feeding window 51 according to the position information transmitted by the first visual sensor 25, controls the milk conveying pump 22 to convey milk into the milk basin 24 for feeding according to a preset dose, and controls the mechanical arm 23 to retract the milk basin 24 and turn into the cleaning and disinfecting mechanism 30 after each feeding is completed, so that the milk basin 24 is cleaned and disinfected by the cleaning and disinfecting mechanism 30.

[0032] Please refer to Figure 3 and 9, specifically, the self-moving positioning trolley 10 is an intelligent mobile platform configured with a two-dimensional laser radar + depth camera + inertial navigation multi-sensor fusion positioning technology and fuses the traditional Ackerman steering principle and the line control technology. It can combine the electronic map data of the calf island 50 (obtained by high-precision map data acquisition technology, such as unmanned aerial tilt photography, laser scanning, etc., to obtain the geographic information inside the calf island 50, including the layout of the calf island 50, the position of the feeding window 51, the distribution of facilities, etc.), realize autonomous positioning and navigation, and can move to each feeding window 51 of the calf island 50 according to the preset route according to the task requirements; the first visual sensor 25 is a depth camera, which is directed to the side of the feeding window 51 of the calf island 50 to be fed, used to collect image information of the feeding window 51 of the calf island 50, identify the characteristic mark of the feeding window 51, obtain the three-dimensional position information of the feeding window 51, and transmit the three-dimensional position information of the feeding window 51 to the controller 26; the controller 26 is an MCU controller, and the mechanical arm 23 is a multi-degree-of-freedom mechanical arm, and the mechanical arm 23 is provided with an independent control system; the controller 26 can send operation instructions to the control system of the mechanical arm 23 according to the position information transmitted by the first visual sensor 25, and the control system of the mechanical arm 23 controls the mechanical arm 23 to extend the milk material basin 24 to the feeding window 51 according to the operation instructions; the milk material basin 24 is a stainless steel basin, and the milk material storage tank 21 pre-stores milk material for feeding; the output end of the milk material conveying pump 22 is provided with a conduit 221, which is made of rubber or plastic hose; the conduit 221 is arranged along the mechanical arm 23, and the output end of the conduit 221 is fixed to the free end of the mechanical arm 23 and directed to the inside of the milk material basin 24; an electromagnetic valve and a first flow meter 28 are arranged at the output end of the conduit 221, and the electromagnetic valve and the first flow meter 28 are electrically connected with the controller 26; the controller 26 controls the milk material conveying pump 22 to convey milk material into the milk material basin 24; the first flow meter 28 is used to detect the output flow of the milk material and feed the output flow information to the controller 26; the controller 26 controls the milk material conveying pump 22 to output a preset dose of milk material according to the output flow information fed back by the first flow meter 28, and cooperates with the electromagnetic valve for management.

[0033] The cleaning and disinfecting mechanism 30 comprises a clean water tank 31, a disinfectant tank 32, a waste liquid tank 33 and an open-top cleaning tank 34 arranged on the self-moving positioning trolley 10, the cleaning tank 34 is arranged on one side of the mechanical arm 23, the mechanical arm 23 can turn the milk container 24 after each feeding into the cleaning tank 34, a plurality of spray heads 35 are arranged on the inner wall of the cleaning tank 34, the spray heads 35 are high-pressure spray heads, a plurality of spray heads 35 are arranged around the cleaning tank 34, and the spray ports of the spray heads 35 all face the milk container 24 entering the cleaning tank 34, a connecting pipe 39 connected with the spray heads 35 is arranged outside the cleaning tank 34, a first water pump 36 is arranged on the clean water tank 31, a second water pump 37 is arranged on the disinfectant tank 32, the input ends of the first water pump 36 and the second water pump 37 are respectively communicated with the clean water tank 31 and the disinfectant tank 32, the output ends of the first water pump 36 and the second water pump 37 are respectively communicated with the connecting pipe 39 connected with the spray heads 35, the control ends of the first water pump 36 and the second water pump 37 are respectively electrically connected with the controller 26, the controller 26 controls the first water pump 36 and the second water pump 37 to work respectively according to the preset instructions, and delivers clean water or disinfectant to the spray heads 35, so as to clean and disinfect the milk container 24 entering the cleaning tank 34, and the waste liquid tank 33 is arranged below the cleaning tank 34 and is communicated with the bottom of the cleaning tank 34, so as to collect and store the waste liquid after cleaning and disinfecting.

[0034] See Figure 3 and Figure 6When feeding, the self-moving positioning trolley 10 can be automatically started according to the preset feeding time, and then moves to the feeding window 51 of each calf island 50 according to the preset route. When the self-moving positioning trolley 10 moves to the feeding window 51 of each calf island 50, the first visual sensor 25 collects the position information of the feeding window 51, and then transmits the position information to the controller 26. According to the position information of the feeding window 51, the controller 26 sends a work instruction to the control system of the mechanical arm, controls the mechanical arm 23 to extend the milk bowl 24 to the feeding window 51, and controls the mechanical arm 23 to overturn the milk bowl 24 to a state with the port upward. When the milk bowl 24 reaches the specified position, the controller 26 controls the milk delivery pump 22 to deliver milk to the milk bowl 24 according to the preset feeding dose, and after each feeding is completed, the controller 26 sends a work instruction to the control system of the mechanical arm, controls the mechanical arm 23 to retract the milk bowl 24 and transfer it into the cleaning and disinfecting mechanism 30, and then the cleaning and disinfecting mechanism 30 cleans and disinfects the milk bowl 24. During the cleaning and disinfecting process, the self-moving positioning trolley 10 continues to execute the moving instruction. When the milk bowl 24 is cleaned and disinfected and the self-moving positioning trolley 10 moves to the feeding window 51 of the next calf island 50, the milk feeding mechanism 20 continues to execute the above feeding action to perform the feeding work.

[0035] In this embodiment, the feeding mode of the calf is time feeding, that is, the controller 26 counts the single feeding time. When the single feeding time arrives, the controller 26 sends a work instruction to the control system of the mechanical arm, controls the mechanical arm 23 to retract the milk bowl 24.

[0036] Please continue to see Figure 3 In addition, in a preferred embodiment, the feeding control can also be performed by image recognition. Specifically, a second visual sensor 29 can be arranged on the mechanical arm 23, the second visual sensor 29 is located above the milk bowl 24 and is electrically connected with the controller 26. The second visual sensor 29 is a depth camera, which captures the feeding image of the calf or the state image of the milk bowl 24, extracts the key features from the image, analyzes and identifies the extracted features by using the pattern recognition and machine learning algorithm, and sends an instruction to the controller 26 according to the identification result when the identification result is that the calf stops feeding or the milk in the milk bowl 24 is eaten up. Then, the controller 26 sends a corresponding work instruction to the control system of the mechanical arm 23, and the control system of the mechanical arm 23 controls the mechanical arm 23 to retract the milk bowl 24.

[0037] Please see Figure 5In the feeding process, if individual calves have abnormal feeding, resulting in the milk feed in the milk feed basin 24 not being eaten and remaining milk feed, in order to facilitate the recovery of the remaining milk feed, an open-top milk recovery tank 40 is further arranged on the self-moving positioning trolley 10, the milk recovery tank 40 is located on one side of the mechanical arm 23 and is arranged adjacent to the cleaning tank 34, the mechanical arm 23 recovers the milk feed basin 24 according to the operation instruction, first turns the milk feed basin 24 into the milk recovery tank 40, and then turns over the milk feed basin 24, pours the remaining milk feed in the milk feed basin 24 into the milk recovery tank 40, and then controls the milk feed basin 24 to enter the cleaning tank 34 for cleaning and disinfection treatment.

[0038] Please refer to Figure 1 and Figure 5 Further, in order to facilitate the measurement of the remaining milk feed, a milk recovery storage tank 41 is arranged below the milk recovery tank 40, the bottom of the milk recovery tank 40 and the feed inlet of the milk recovery storage tank 41 are in communication with each other, and a second flow meter 42 is arranged on the feed inlet of the milk recovery storage tank 41, the second flow meter 42 is electrically connected with the controller 26, the second flow meter 42 is used for detecting the milk recovery flow and feeding back the recovery flow information to the controller 26, and the controller 26 records the milk residual amount.

[0039] Please continue to refer to Figure 1 In the above embodiment, the disinfectant storage tank 32 is divided into a lye tank and an acid tank, the second water pump 37 is two groups of pump bodies, which are respectively arranged on the lye tank and the acid tank, and electromagnetic valves 391 are respectively arranged on the output ends of the two groups of pump bodies of the first water pump 36 and the second water pump 37, the first water pump 36, the second water pump 37 and the electromagnetic valves 391 are respectively controlled by the controller 26, and the process of cleaning and disinfecting the milk feed basin 24 is as follows: first, the residual milk residue in the milk feed basin 24 is washed clean with clean water alone; then, alkali washing is performed alone to remove fat and protein residues by alkali washing reaction; then, acid washing is performed alone, which can remove calcium salt and protein residue minerals by chemical reaction and neutralize the pH value; finally, clean water is used for washing again to ensure that there is no acid and alkali residue, and in the cleaning and disinfecting process, the mechanical arm 23 turns over the milk feed basin 24 to a lateral tilting state, so that water and acid and alkali can be effectively discharged.

[0040] For convenient operation and management, a milk material filling port connected with the milk material storage tank 21, a clean water filling port connected with the clean water storage tank 31, an alkali liquid filling port connected with the alkali liquid tank, an acid liquid filling port connected with the acid liquid tank, and a liquid discharge port connected with the waste liquid storage tank 33 and the milk material recovery storage tank 41 are arranged outside the self-moving positioning trolley 10, and valves are arranged on the filling ports and the liquid discharge port for management. In addition, liquid level meters are correspondingly arranged in the milk material storage tank 21, the clean water storage tank 31, the alkali liquid tank and the acid liquid tank, and the liquid level meters are electrically connected with the controller 26 or other liquid level display terminals, so as to facilitate the staff to check the liquid amount in each storage tank.

[0041] Please refer to Figure 4 or Figure 6 Further, the upper end of the cleaning tank 34 is surrounded by a flexible protective sleeve 38 which is inwardly tapered, and the milk material basin 24 can pass through the protective sleeve 38 to enter the cleaning tank 34. During the cleaning and disinfection of the milk material basin 24, the protective sleeve 38 can block the water spray or disinfectant spray.

[0042] Please refer to Figure 3 Further, the milk feeding mechanism 20 further comprises an information collector 27 which is arranged on one side of the first visual sensor 25 or the mechanical arm 23 and is electrically connected with the controller 26. The information collector 27 is an RFID identifier or a code scanner. An information identification label 52 which matches the information of the calf fed in the calf island 50 is correspondingly arranged at the feeding window 51 of each calf island 50. The information identification label 52 is a two-dimensional code or an RFID electronic label. The information collector 27 is used to read the calf information in each information identification label 52 and transmit the read calf information to the controller 26. The calf basic information includes the calf number and the birth date information. The controller 26 receives the calf information transmitted by the information collector 27 and controls the milk delivery pump 22 to deliver the milk to the milk material basin 24 according to the preset dose according to the calf information.

[0043] Please refer to Figure 7 and Figure 8, further, in order to ensure that the feeding machine is used normally in the outdoor low temperature environment, the upper end of the self-moving positioning trolley 10 is designed as a semi-closed box, an opening is formed on the side of the box facing the calf island 50, and a movable door 11 that can be opened or closed is arranged on the opening, the movable door 11 is driven by a motor or an electric push rod, the milk feeding mechanism 20, the cleaning and disinfecting mechanism 30, the milk recovery tank 40 and the milk recovery storage tank 41 are all arranged in the box, and an electric heater is arranged in the box, the control end of the movable door 11 is electrically connected with the controller 26, the movable door 11 is controlled to be opened or closed through the controller 26, when feeding, the mechanical arm 23 can extend from the opening to the feeding window 51 of the calf island 50 to perform the feeding operation, and when the mechanical arm 23 is retracted, the movable door 11 is closed to block the mechanical arm 23 in the box to prevent freezing.

[0044] Please refer to Figure 10 , further, the self-cleaning type milk automatic feeding machine for calf feeding further comprises a remote control terminal 60, a wireless communication module 12 is arranged on the self-moving positioning trolley 10, the wireless communication module 12 is electrically connected with the control end of the self-moving positioning trolley 10 and the controller 26, and is in communication connection with the remote control terminal 60, the wireless communication module 12 receives the remote control instruction of the remote control terminal 60, and remotely controls the moving path of the self-moving positioning trolley 10, the feeding dose of the milk feeding mechanism 20, the feeding time and the cleaning and disinfecting time length, in addition, the wireless communication module 12 can also upload the real-time position of the self-moving positioning trolley 10, the feeding state of the milk feeding mechanism 20, the calf feeding state, the milk remaining amount data, the working state of the cleaning and disinfecting mechanism 30 and the environmental data to the remote control terminal 60, and the remote control terminal 60 is monitored to provide a basis for calf health management.

[0045] In the above embodiment, the self-moving positioning trolley 10 is provided with a storage battery, and the milk feeding mechanism 20, the cleaning and disinfecting mechanism 30 and the wireless communication module 12 are all powered by the storage battery on the self-moving positioning trolley 10.

[0046] In addition, the milk automatic feeding machine needs to artificially cultivate the feeding habit of the calf in the early feeding stage, so that the calf can adapt to the automatic feeding mode of the milk automatic feeding machine.

[0047] The above disclosure is only the preferred embodiment of the present application, and of course cannot limit the scope of the rights of the present application, and those skilled in the art can understand that the whole or part of the above-mentioned embodiment is implemented, and the equivalent changes made according to the claims of the present application still belong to the scope covered by the present application.

Claims

1. A self-cleaning automatic milk feeder for calves, characterized in that: The system includes a self-propelled positioning trolley and a milk feeding mechanism and a cleaning and disinfection mechanism mounted on the trolley. The milk feeding mechanism includes a milk storage tank, a milk delivery pump, a robotic arm, a milk basin, a first vision sensor, and a controller. The fixed end of the robotic arm is fixedly connected to the self-propelled positioning trolley. The milk basin is located at the free end of the robotic arm. The input end of the milk delivery pump is connected to the milk storage tank, and its output end faces into the milk basin. The first vision sensor is located directly above the robotic arm. The cleaning and disinfection mechanism is located on one side of the robotic arm. The milk delivery pump, robotic arm, and first vision sensor are electrically connected to the controller. The mobile positioning trolley can move to the feeding window of each calf island according to a preset route. The first vision sensor is used to locate the feeding window, obtain the position information of the feeding window, and transmit the position information of the feeding window to the controller. According to the position information transmitted by the first vision sensor, the controller controls the corresponding robotic arm to extend the milk basin to the feeding window and controls the milk delivery pump to deliver milk to the milk basin for feeding according to a preset dosage. After each feeding is completed, the controller controls the robotic arm to retract the milk basin and transfer it to the cleaning and disinfection mechanism, which cleans and disinfects the milk basin.

2. The self-cleaning automatic milk feeder for calves as described in claim 1, characterized in that: The milk feeding mechanism also includes an information collector, which is located on one side of the first vision sensor or on the robotic arm and is electrically connected to the controller. Each calf island has an information identification tag at its feeding window that matches the information of the calves raised in that calf island. The information collector can read the calf information from each information identification tag and transmit the read calf information to the controller. The controller receives the calf information transmitted by the information collector and controls the milk delivery pump to deliver milk to the milk basin at a preset dosage according to the calf information.

3. The self-cleaning automatic milk feeder for calves as described in claim 2, characterized in that: The cleaning and disinfection mechanism includes a clean water storage tank, a disinfectant storage tank, a waste liquid storage tank, and a cleaning tank with an open top, all mounted on a self-propelled positioning trolley. The cleaning tank is located on one side of a robotic arm, which can transfer the milk basins after each feeding into the cleaning tank. Several nozzles are installed on the inner wall of the cleaning tank, evenly distributed around the trolley, with each nozzle's spray nozzle facing the milk basin entering the cleaning tank. A first water pump is installed on the clean water storage tank, and a second water pump is installed on the disinfectant storage tank. The input ends of the first and second water pumps are respectively connected to the clean water storage tank and the disinfectant storage tank, and the output ends of the first and second water pumps are respectively connected to each nozzle. The control ends of the first and second water pumps are electrically connected to a controller, which can control the operation of the first and second water pumps to deliver clean water or disinfectant to each nozzle for cleaning and disinfecting the milk basins entering the cleaning tank. The waste liquid storage tank is located below the cleaning tank and is connected to the bottom of the cleaning tank to collect and store the waste liquid after cleaning and disinfection.

4. The self-cleaning automatic milk feeder for calves as described in claim 3, characterized in that: The upper port of the cleaning tank is surrounded by an inwardly contracting flexible protective sleeve, through which the emulsion basin can pass into the cleaning tank.

5. The self-cleaning automatic milk feeder for calves as described in claim 4, characterized in that: The self-propelled positioning trolley is also equipped with a milk recovery tank with an opening at the top. The milk recovery tank is located on one side of the robotic arm and is adjacent to the cleaning tank. The controller can control the robotic arm to retract the milk basin after feeding and transfer it into the milk recovery tank. It can also control the robotic arm to flip and invert the milk basin, pour the remaining milk in the milk basin into the milk recovery tank, and then control the milk basin to enter the cleaning tank for cleaning and disinfection.

6. The self-cleaning automatic milk feeder for calves as described in claim 5, characterized in that: Below the milk recovery tank is a milk recovery storage tank, and the bottom of the milk recovery tank is connected to the inlet of the milk recovery storage tank.

7. The self-cleaning automatic milk feeder for calves as described in claim 1, characterized in that: The output end of the milk delivery pump is equipped with a first flow meter, which is electrically connected to the controller. The first flow meter detects the milk output flow rate and feeds back the output flow rate information to the controller. The controller controls the milk delivery pump to output a preset dose of milk based on the output flow rate information fed back by the first flow meter.

8. The self-cleaning automatic milk feeder for calves as described in claim 6, characterized in that: A second flow meter is installed at the inlet of the milk recovery storage tank. The second flow meter is electrically connected to the controller. The second flow meter is used to detect the milk recovery flow rate and feed the recovery flow rate information back to the controller for recording.

9. The self-cleaning automatic milk feeder for calves as described in claim 8, characterized in that: The robotic arm is a multi-degree-of-freedom robotic arm.

10. The self-cleaning automatic milk feeder for calves as described in claim 9, characterized in that: It also includes a remote control terminal. The self-propelled positioning vehicle is equipped with a wireless communication module. The wireless communication module is electrically connected to the control terminal and controller of the self-propelled positioning vehicle, and establishes a communication connection with the remote control terminal. The wireless communication module receives remote control commands from the remote control terminal and uploads equipment working status data to the remote control terminal.

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