Intelligent cleaning robot for livestock and poultry house

Abstract

The invention relates to an intelligent cleaning robot for livestock and poultry houses, which belongs to cleaning robots and comprises a crawler chassis, a self-balancing system, a lifting system and a cleaning system, the self-balancing system is fixed on the crawler chassis, the lifting system is fixed on the self-balancing system, and the cleaning system is mounted at the front end of the lifting system; the self-balancing system comprises a self-balancing table, a base is arranged on the crawler chassis, a bearing seat fixing piece is arranged on the base, a fisheye bearing seat is installed on the bearing seat fixing piece, an electric push rod is fixed to the fisheye bearing seat, and a spherical hinge joint bearing is arranged at the upper end of the electric push rod. A spherical hinge fixing block is fixed at the bottom of the self-balancing table and is connected with a spherical hinge joint bearing; a water inlet pipe clamping groove is formed in the self-balancing table, a self-balancing control box is arranged at the bottom end of the self-balancing table, and a double-shaft tilt angle sensor and a whole machine controller are arranged in the self-balancing control box. According to the device, the rolling brush can be automatically balanced under the condition that the ground is uneven or inclined, the cleaning requirement is met, efficient, accurate and automatic cleaning operation can be achieved, the manual intervention cost is reduced, and the breeding environment safety is guaranteed.

Description

Technical Field

[0001] This invention pertains to cleaning robots, and specifically relates to an intelligent cleaning robot for livestock and poultry houses. Background Technology

[0002] With the continuous improvement of the scale of livestock and poultry breeding production, the issues of livestock and poultry health and the cleaning and disinfection of manure are becoming increasingly prominent. When cleaning the floors of livestock and poultry houses, people often neglect the cleaning of the inside of the manure slats, especially the cleaning of the bottom of the slatted floor. The feces and urine stains that are hardened on the slatted floor are very hard. The long-term accumulation of feces and urine stains forms dirt that is difficult to loosen without external force. If manual cleaning is used, it is limited by the surrounding space and cleaning environment, which makes it impossible to clean effectively. It not only wastes manpower and resources, but also cannot guarantee the cleaning quality. Even if mechanical friction is applied to the surface of the dirt layer, it is still limited by the geometry of the bottom of the slatted floor, and only some surface dirt particles can be removed. At the same time, most livestock and poultry houses have a certain slope in the manure slats for easy cleaning, which makes it easy for feces and urine to accumulate and be cleaned together along the slope. If the ground is tilted during the cleaning robot's operation on the top, it will cause one end of the cleaning roller brush to be suspended in the air and the other end to be raised, resulting in uneven pressure on the roller brush surface, tilting and wear, which can easily lead to equipment failure or safety hazards. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an intelligent cleaning robot for livestock and poultry houses.

[0004] This invention discloses an intelligent cleaning robot for livestock and poultry houses, comprising a tracked chassis, a self-balancing system, a lifting system, and a cleaning system. The self-balancing system is fixed to the upper rear side of the tracked chassis, the lifting system is fixed to the upper end of the self-balancing system, and the cleaning system is installed at the front end of the lifting system. The self-balancing system includes a self-balancing platform, an electric push rod, and a whole-machine controller. Four bases are fixed to the upper rear side of the tracked chassis, bearing seat fixing components are fixed to the upper ends of the bases, fisheye bearing seats are installed on the bearing seat fixing components, an electric push rod is fixed to the upper end of the fisheye bearing seat, and a ball joint bearing is provided at the upper end of the electric push rod. Ball joint fixing blocks are fixed at the four corners of the bottom of the self-balancing platform, and the ball joint bearings are connected to the ball joint fixing blocks. A water inlet pipe slot is fixed to one side of the upper end of the self-balancing platform, and a self-balancing control box is fixed to the bottom end. A dual-axis tilt sensor and a whole-machine controller are provided in the self-balancing control box. The dual-axis tilt sensor identifies the tilt angle of the self-balancing platform.

[0005] As a further improvement of the present invention, the lifting system includes a lifting bracket, a lifting electric push rod, a cleaning electric push rod, and a cleaning adjusting arm. The lifting bracket has a U-shaped cross-section. Two connecting plates are fixed at the center of the rear end of the self-balancing platform. A lifting roller shaft is rotatably connected between the two connecting plates. Both ends of the lifting roller shaft are fixed to the two sides of the lifting bracket. Two connecting plates I are fixed to the two sides of the rear end of the self-balancing platform. A driven shaft I is fixedly connected between the two connecting plates I on both sides. The tail end of the lifting electric push rod is rotatably connected to the driven shaft I. The lifting roller shaft I is provided between the front ends of the lifting bracket via a lifting roller bearing. The extended ends of the two lifting electric push rods are rotatably connected to the connecting shafts at both ends of the lifting roller shaft I. A driven shaft II is fixedly connected between the rear side walls of the lifting bracket. The tail end of the cleaning electric push rod is rotatably connected to the driven shaft II. A cleaning drum shaft is installed between the front end of the lifting bracket via a cleaning drum bearing. The connecting shafts at both ends of the cleaning drum shaft are connected to the middle of the U-shaped cleaning adjustment arm. A drive shaft is fixed between the upper ends of the two side walls of the cleaning adjustment arm. The extended end of the cleaning electric push rod is rotatably connected to the sleeve on the outer wall of the drive shaft. A V-shaped connecting arm is fixed at the lower end of the cleaning adjustment arm. A cleaning system is provided between the lower ends of the two side arms of the V-shaped connecting arm.

[0006] As a further improvement of the present invention, the cleaning system includes a cleaning motor and high-pressure nozzles. Cleaning side plates are fixedly connected to the lower ends of the two side walls of the V-shaped connecting arm, and a cleaning base plate is fixedly connected between the two cleaning side plates. A driven shaft is installed between the lower ends of the two cleaning side plates via a bearing. A roller is fixedly sleeved on the outer wall of the driven shaft. A fixing slot and a cleaning motor are fixed on the cleaning base plate. Multiple high-pressure nozzles are installed in the fixing slot. A drive shaft is fixed to the output end of the cleaning motor. One end of the drive shaft passes through one of the cleaning side plates and a drive gear is fixed to its end. A driven gear is fixed to one end of the driven shaft. The drive gear and the driven gear are connected by a chain drive.

[0007] As a further improvement of the present invention, a battery and a high-pressure water pump are fixed on the front side of the upper end of the tracked chassis. A water pump inlet pipe is connected to the inlet end of the high-pressure water pump, and a water pump outlet pipe is connected to the outlet end. The water pump inlet pipe is placed in the inlet pipe slot and is snapped together with it. One end of the water pump outlet pipe is connected to multiple outlet pipes, and the multiple outlet pipes are respectively connected to multiple high-pressure nozzles.

[0008] As a further improvement of the present invention, a robot wireless Wi-Fi module is provided on the rear end face of the tracked chassis.

[0009] As a further improvement of the present invention, a 3D laser radar is provided on the other side of the rear end of the self-balancing platform, and a mounting plate is provided on the rear end of the self-balancing platform, with a high-definition camera fixed at the center of the rear end face of the mounting plate.

[0010] As a further improvement of the present invention, a dustproof and waterproof cover is provided on the outside of the self-balancing system.

[0011] The present invention discloses an intelligent cleaning robot for livestock and poultry houses. The robot has a reasonable structural design and can automatically balance the roller brush under uneven or inclined ground conditions to meet cleaning needs. By integrating modules such as multi-sensor perception, path planning, motion control, cleaning strategy optimization and remote monitoring, it can achieve efficient, precise and automated cleaning operations. At the same time, it reduces the cost of manual intervention, ensures the safety of the breeding environment, and realizes autonomous, precise and efficient cleaning operations in complex breeding environments. Attached Figure Description

[0012] Figure 1 This is a side view of the present invention; Figure 2 This is a structural diagram of the present invention; Figure 3 This is a structural diagram of the self-balancing system of the present invention; Figure 4 This is a side view of the self-balancing system of the present invention; Figure 5 This is a side view of the lifting system of the present invention; Figure 6 This is a top view of the lifting system of the present invention; Figure 7 This is a top view of the cleaning system of the present invention; Figure 8 This is a side view of the cleaning system of the present invention; Figure 9 This is a structural diagram of the cleaning system of the present invention; Figure 10 This is a schematic diagram of the working environment of the present invention; Figure 11 This is a structural diagram of the intelligent lifting platform of the present invention; Figure 12 This is a side view of the intelligent lifting platform of the present invention; Figure 13 This is a front view of the automatic tube winding machine of the present invention; Figure 14 This is a side view of the automatic tube winding machine of the present invention. Detailed Implementation

[0013] The present invention provides an intelligent cleaning robot for livestock and poultry houses, comprising a tracked chassis 1, a self-balancing system 2, a lifting system 3, and a cleaning system 4, wherein a robot wireless Wi-Fi module 48 is provided on the rear end face of the tracked chassis 1.

[0014] The self-balancing system 2 is fixed to the upper rear side of the tracked chassis 1. The self-balancing system 2 includes a self-balancing platform 5, an electric push rod 6, and a whole-machine controller 7. Four bases 8 are fixed to the upper rear side of the tracked chassis 1. Bearing seat fixing parts 9 are fixed to the upper ends of the bases 8. Fish-eye bearing seats 10 are installed on the bearing seat fixing parts 9. An electric push rod 6 is fixed to the upper end of the fish-eye bearing seat 10. A ball joint bearing 11 is provided at the upper end of the electric push rod 6. Ball joint fixing blocks 12 are fixed at the four corners of the bottom of the self-balancing platform 5. The ball joint bearings 11 are connected to the ball joint fixing blocks 12. A water inlet pipe slot 13 is fixed to one side of the upper end of the balancing platform 5, and a self-balancing control box 14 is fixed to the bottom end. A dual-axis tilt sensor 15 and a whole-machine controller 7 are installed in the self-balancing control box 14. The dual-axis tilt sensor 15 can identify the tilt angle of the self-balancing platform 5, and the whole-machine controller 7 can control all control systems. A 3D laser radar 49 is installed on the other side of the upper and lower rear end of the self-balancing platform 5. A mounting plate 50 is installed on the upper and lower rear end of the self-balancing platform 5, and a high-definition camera 51 is fixed at the center of the rear end face of the mounting plate 50. A dustproof and waterproof cover 52 is installed on the outside of the self-balancing system 2.

[0015] The lifting system 3 includes a lifting bracket 16, a lifting electric push rod 17, a cleaning electric push rod 18, and a cleaning adjustment arm 19. The lifting bracket 16 has a U-shaped cross-section. Two connecting plates 20 are fixed at the center of the rear end of the self-balancing platform 5. A lifting roller shaft 21 is rotatably connected between the two connecting plates 20. The lifting roller shaft 21 is a cylinder with connecting shafts fixed at both ends. All roller shafts mentioned below have this structure. The two ends of the cylindrical lifting roller shaft 21 are fixed to the two sides of the lifting bracket 16, respectively. The connecting shafts are rotatably connected to two connecting plates 20 respectively; two connecting plates I 22 are fixed at the rear end of the self-balancing platform 5 and on both sides of the connecting plate 20 respectively, and driven shafts I 23 are fixedly connected between the two connecting plates I 22 on both sides respectively. The tail end of the lifting electric push rod 17 is rotatably connected to the driven shaft I 23. A lifting roller shaft I 25 is provided between the front ends of the lifting bracket 16 through the lifting roller bearing 24. The extended ends of the two lifting electric push rods 17 are rotatably connected to the connecting shafts at both ends of the lifting roller shaft I 25 respectively; a driven shaft II 26 is fixedly connected between the rear side walls of the lifting bracket 16. The tail end of the electric cleaning push rod 18 is rotatably connected to the driven shaft II 26. A cleaning drum shaft 28 is installed between the front ends of the lifting bracket 16 via a cleaning drum bearing 27. The connecting shafts at both ends of the cleaning drum shaft 28 are connected to the middle of the U-shaped cleaning adjusting arm 19. A drive shaft 29 is fixed between the upper ends of the two side walls of the cleaning adjusting arm 19. The extended end of the electric cleaning push rod 18 is rotatably connected to a sleeve on the outer wall of the drive shaft 29. A V-shaped connecting arm 30 is fixed at the lower end of the cleaning adjusting arm 19. When the electric lifting push rod 17 is working, the extended end of the electric lifting push rod 17... The tail end of the lifting electric push rod 17 can be controlled to rotate around the driven shaft I 23 by extension and retraction. Since the lifting drum shaft 21 and the driven shaft I 23 are not concentric, when the tail end of the lifting electric push rod 17 rotates around the driven shaft I 23, the front end of the lifting bracket 16 can be raised or lowered. When the cleaning electric push rod 18 is working, the extension and retraction end of the cleaning electric push rod 18 can make the tail end of the cleaning electric push rod 18 rotate slightly around the driven shaft II 26 by extension and retraction. At the same time, the cleaning adjustment arm 19 can be controlled to rotate around the cleaning drum bearing 27 by the drive shaft 29 to adjust the rotation angle of the cleaning adjustment arm 19.

[0016] A cleaning system 4 is provided between the lower ends of the two sides of the V-shaped connecting arm 30. The cleaning system 4 includes a cleaning motor 31 and a high-pressure nozzle 32. Cleaning side plates 33 are fixedly connected to the lower ends of the two side walls of the V-shaped connecting arm 30, and a cleaning base plate 34 is fixedly connected between the two cleaning side plates 33. A driven shaft 36 is installed between the lower ends of the two cleaning side plates 33 through a bearing 35. A roller 37 is fixedly sleeved on the outer wall of the driven shaft 36. A fixing slot 38 and a cleaning motor 31 are fixed on the cleaning base plate 34. Multiple high-pressure nozzles 32 are installed on the fixing slot 38. A drive shaft 40 is fixed to the output end of the cleaning motor 31. One end of the drive shaft 40 passes through one side cleaning side plate 33 and a drive gear 41 is fixed to its end. A driven gear 42 is fixed to one end of the driven shaft 36. The drive gear 41 and the driven gear 42 are connected by a chain 43.

[0017] A battery 44 and a high-pressure water pump 45 are fixed on the front side of the upper end of the tracked chassis 1. A water pump inlet pipe 46 is connected to the inlet end of the high-pressure water pump 45, and a water pump outlet pipe 47 is connected to the outlet end. The water pump inlet pipe 46 is placed in the inlet pipe slot 13 and is snapped together with it. One end of the water pump outlet pipe 47 is connected to multiple outlet pipes, and the multiple outlet pipes are respectively connected to multiple high-pressure nozzles 32.

[0018] This invention discloses an intelligent cleaning robot for livestock and poultry houses, which, when used in livestock and poultry houses, such as... Figure 10 As shown, the livestock and poultry house structure includes a livestock and poultry house floor 76 and a manure ditch floor 77. A slatted floor 45 is installed on the upper part of the manure ditch floor 77, which is flush with the livestock and poultry house floor 76. At the end of the manure ditch 55, there is an intelligent lifting platform floor 78 that is lower than the manure ditch floor 77, and the intelligent lifting platform 53 can be installed on top of it.

[0019] The intelligent cleaning robot needs to work in conjunction with the intelligent lifting platform 53 and the automatic hose reeling machine 54. The intelligent lifting platform 53 is installed at one end of the manure ditch 55, such as... Figure 11 and Figure 12 As shown, the intelligent lifting platform 53 is constructed by fixing a lifting platform control box 57 to the bottom of the support platform 59 of an existing ordinary lifting platform. A lifting platform controller 58 is installed inside the lifting platform control box 57, and a lifting platform wireless wifi module 56 is installed on one side wall of the lifting platform control box 57. The lifting platform controller 58 can control the start and stop of the lifting platform electric push rod 60 connected to the bottom of the support platform 59. When the intelligent lifting platform 53 is in the rising state, the upper surface of the support platform 59 is flush with the upper surface of the slatted floor 75 in the livestock and poultry house. When the intelligent lifting platform 53 is in the retracted state, the upper surface of the support platform 59 is flush with the floor 77 of the manure ditch in the livestock and poultry house.

[0020] like Figure 13 and Figure 14 As shown, the automatic hose reel 54 includes a hose reel wireless Wi-Fi module 61, a hose reel controller 62, a hose reel motor 63, a filter 64, a reel 65, a water pipe 66, and an inverted U-shaped bracket 67. A hose reel driven shaft 68 is rotatably connected between the two side walls of the inverted U-shaped bracket 67. A reel 65 is fixed to the outer wall of the reel driven shaft 68, and a water pipe 66 is fixedly wound on the outer wall of the reel 65. A water pipe connector 74 is provided at one end of the water pipe 66, and a filter 64 is provided at the other end. The hose reel motor 63 is fixed to one side of the upper end of the inverted U-shaped bracket 67. The output end of the hose reel motor 63 is fixed with the hose reel drive shaft 69. The hose reel drive gear 70 is fixed on the outer wall of the hose reel drive shaft 69, and the hose reel driven gear 71 is fixed on the outer wall of one end of the hose reel driven shaft 68. The hose reel drive gear 70 and the hose reel driven gear 71 are connected by the hose reel drive chain 72. The hose reel control box 73 is fixed on the other side of the upper end of the inverted U-shaped bracket 67. The hose reel controller 62 is provided inside the hose reel control box 73, and the hose reel wireless wifi module 61 is provided on one side of the outer wall of the hose reel control box 73.

[0021] This invention discloses an intelligent cleaning robot for livestock and poultry houses. Before operation, a filter 64 at one end of a water pipe 66 is placed in an external water source, and the water pipe connector 74 at the other end of the water pipe 66 is sealed and connected to the water pump inlet pipe 46. During operation, the overall controller 7 issues commands, transmitting control data to each controller via various wireless Wi-Fi modules. The intelligent cleaning robot receives environmental signals from the livestock and poultry house using a 3D LiDAR 49 and plans its cleaning path. When cleaning the floor 76 of the livestock and poultry house, an electronic fence needs to be set up on the intelligent lifting platform 53 to prevent the intelligent cleaning robot from entering its area. As the cleaning task progresses, the cleaning... System 4 descends and contacts the floor 76 of the livestock shed. Simultaneously, the automatic hose reel 54 retracts and extends the water hose 66. When cleaning the floor 77 of the manure ditch, the intelligent cleaning robot first enters the support platform 59 of the intelligent lifting platform 53. As the intelligent lifting platform 53 descends, the support platform 59 becomes level with the floor 77 of the manure ditch, and the intelligent cleaning robot enters the manure ditch. The cleaning system 4 descends and contacts the floor 77 of the manure ditch to perform the cleaning task. When cleaning the bottom of the slatted floor 75, the intelligent cleaning robot enters the manure ditch, and the cleaning system 4 rises and contacts the bottom of the slatted floor 75 to perform the cleaning task. At the same time, the high-definition camera 51 can observe the cleaning situation and transmit real-time data to the data feedback center.

[0022] The working process of the intelligent lifting platform 53: Before the intelligent cleaning robot starts working, an electronic fence needs to be set up in the area of ​​the intelligent lifting platform 53, and the 3D LiDAR 49 is used for scanning and positioning. When the intelligent cleaning robot needs to clean the inside of the manure ditch, the whole machine controller 7 receives the positioning signal transmitted by the 3D LiDAR 49 and controls the intelligent cleaning robot to drive into the area of ​​the intelligent lifting platform 53. After the intelligent cleaning robot has completely driven into the platform 59, the whole machine controller 7 sends a control signal to the lifting platform controller 58 through the robot's wireless Wi-Fi module 48. The lifting platform controller 58 controls the lifting platform electric push rod 60 to retract, so that the platform 59 continuously descends until it is level with the ground 77 of the manure ditch. Then the lifting platform electric push rod 60 stops working and the lifting platform wireless... The Wi-Fi module 56 sends a signal to the whole machine controller 7, which controls the intelligent cleaning robot to enter the manure ditch to perform the cleaning task. After the manure ditch floor 77 and the bottom of the slatted floor 75 are cleaned, the whole machine controller 7 controls the intelligent cleaning robot to enter the support platform 59 and sends a control signal to the lifting platform controller 58 through the robot's wireless Wi-Fi module 48. The lifting platform controller 58 controls the lifting platform electric push rod 60 to extend, so that the support platform 59 rises continuously until it is level with the livestock and poultry house floor 76. Then, the lifting platform electric push rod 60 stops working and sends a signal to the whole machine controller 7 through the lifting platform wireless Wi-Fi module 56. The whole machine controller 7 controls the intelligent cleaning robot to leave the area of ​​the intelligent lifting platform 53.

[0023] Automatic tube rolling machine working process: Before the intelligent cleaning robot starts working, the filter 64 needs to be placed in an external water source, and the water pipe connector 74 needs to be sealed and connected to the water pump inlet pipe 46. When the intelligent cleaning robot starts working, the whole machine controller 7 controls the intelligent cleaning robot to move, and sends a control signal to the hose reel controller 62 through the robot wireless wifi module 48. The hose reel controller 62 controls the hose reel motor 63 to start working, and transmits power to the hose reel drive gear 70 through the hose reel drive shaft 69. The hose reel drive gear 70 transmits power to the hose reel driven gear 71 through the hose reel drive chain 72, causing the hose reel driven shaft 68 to rotate, thereby driving the reel 65 to rotate and releasing the water pipe 66. At this time, the hose reel controller 62 feeds back a signal to the whole machine controller 7 through the hose reel wireless wifi module 61, and continuously adjusts the speed of the hose reel motor 63 so that the speed of the water pipe 66 winding out of the reel 65 is synchronized with the speed of the intelligent cleaning robot.

[0024] The working process of an intelligent cleaning robot: Before the intelligent cleaning robot performs its cleaning task, it performs an initial state adjustment. The whole machine controller 7 controls the cleaning electric push rod 18 in the lifting system 3 to work, causing the telescopic end of the cleaning electric push rod 18 to retract. Since the cleaning electric push rod 18 is connected to the drive shaft 29 of the cleaning adjustment arm 19, the retraction of the telescopic end of the cleaning electric push rod 18 causes the cleaning adjustment arm 19 to rotate around the cleaning drum shaft 28. After the cleaning adjustment arm 19 is in a horizontal state, the whole machine controller 7 controls the cleaning electric push rod 18 to stop working. At this time, since the cleaning system 4 is connected to the cleaning adjustment arm 19 through the V-shaped connecting arm 30, it will also be in a horizontal state. After being in a horizontal state, the whole machine controller 7 controls the tracked chassis 1 to walk to the designated starting point according to the path planned by the 3D laser radar 49, and start the cleaning task of the livestock and poultry house floor 76 or the manure ditch floor 77.

[0025] The cleaning process for livestock and poultry house floors 76 or manure ditch floors 77: When the intelligent cleaning robot starts cleaning the livestock shed floor 76 or manure ditch floor 77, the self-balancing system 2 is turned off. This is to ensure that the tilt angle of the lifting system 3 and the cleaning system 4 is consistent with the tilt angle of the tracked chassis 1 and the ground, avoiding damage to the lifespan of the cleaning system 4 due to different tilt angles. At this time, the whole machine controller 7 sends a cleaning signal to control the cleaning electric push rod 18 in the lifting system 3 to work, causing the extended end of the cleaning electric push rod 18 to extend. As the extended end of the cleaning electric push rod 18 extends, the cleaning adjusting arm 19 rotates around the cleaning drum shaft 28. Since the cleaning system 4 is connected to the cleaning adjusting arm 19 through the V-shaped connecting arm 30, the cleaning system 4 will slowly descend until the drum 37 in the cleaning system 4 contacts the ground. At this time, the whole machine controller 7 controls the cleaning electric push rod 18 to stop working, and the whole machine controller 7 starts controlling the cleaning motor 31. In operation, the output end of the cleaning motor 31 is fixed with a drive shaft 40, and one end of the drive shaft 40 is fixed with a drive gear 41. The power is transmitted to the driven gear 42 through the chain 43, and the driven gear 42 transmits the power to the driven shaft 36, thereby driving the drum 37 to rotate and clean the ground. At the same time, the whole machine controller 7 controls the high-pressure water pump 45 to work. After the high-pressure water pump 45 pumps water into the water source through the water pump inlet pipe 46, it is transmitted to the high-pressure nozzle 32 through the water pump outlet pipe 47, so that the drum 37 performs high-pressure rinsing while cleaning the ground.

[0026] Cleaning process for the bottom of slatted floorboards (75): When the intelligent cleaning robot begins cleaning the bottom of the slatted floor 75, the self-balancing system 2 activates to ensure that the lifting system 3 and cleaning system 4 are parallel to the slatted floor 75 at their tilt angles. At this time, the tracked chassis 1 is parallel to the ground and does not affect the lifting system 3 and cleaning system 4. The overall controller 7 controls the cleaning electric push rod 18 in the lifting system 3 to retract its telescopic end. As the telescopic end of the cleaning electric push rod 18 retracts, the cleaning adjusting arm 19 rotates around the cleaning drum shaft 28 until the cleaning adjusting arm 19 is horizontal. Then, the overall controller 7 stops the cleaning electric push rod 18. Next, the overall controller 7 controls the lifting electric push rod 17 in the lifting system 3 to extend its telescopic end. This applies force to the lifting bracket 16, causing its front end to rise. The cleaning adjustment arm 19, together with the V-shaped connecting arm 30, drives the cleaning system 4 to rise. When the roller 37 in the cleaning system 4 contacts the bottom of the slatted floor 75, the whole machine controller 7 controls the lifting electric push rod 17 to stop working, and the whole machine controller 7 starts to control the cleaning motor 31 to work. The output end of the cleaning motor 31 is fixed with a drive shaft 40, and one end of the drive shaft 40 is fixed with a drive gear 41. The power is transmitted to the driven gear 42 through the chain 43, and the driven gear 42 transmits the power to the driven shaft 36, thereby driving the roller 37 to rotate and clean the bottom of the slatted floor 75. At the same time, the whole machine controller 7 controls the high-pressure water pump 45 to work. After the high-pressure water pump 45 pumps water into the water source from the water pump inlet pipe 46, it is transmitted to the high-pressure nozzle 32 through the water pump outlet pipe 47, so that the roller 37 performs high-pressure rinsing while cleaning.

[0027] Control system operation process: The control system mainly consists of a data feedback center, a wireless control module, and a mobile client. In this invention, the intelligent lifting platform 53 and the automatic pipe rolling machine 54 are powered by an external power source, while the intelligent cleaning robot is powered by a battery 44. The intelligent cleaning robot generally cleans in the following order: livestock and poultry house floor 76 - bottom of slatted floor 75 - manure ditch floor 77.

[0028] This invention discloses an intelligent cleaning robot for livestock and poultry houses. Before performing the cleaning task, the intelligent cleaning robot first performs an initial state adjustment, sealing the hose reel connector 74 with the water pump inlet connector 46, and placing the filter 64 in an external water source. The whole machine controller 7 controls the cleaning electric push rod 18 in the lifting system 3 to work, causing the telescopic end of the cleaning electric push rod 18 to retract. As the telescopic end of the cleaning electric push rod 18 retracts, the cleaning adjustment arm 19 rotates around the cleaning drum shaft 28. After the cleaning adjustment arm 19 is in a horizontal state, the whole machine controller 7 controls the cleaning electric push rod 18 to stop working. At this time, because the cleaning system 4 is connected to the cleaning adjustment arm 19 through the V-shaped connecting arm 30, it will also be in a horizontal state. At this time, the whole machine controller 7 controls the tracked chassis 1 to walk to the designated starting point according to the planned path guided by the 3D laser radar 49.

[0029] When the intelligent cleaning robot cleans the floor 76 of the livestock and poultry house, the self-balancing system 2 is turned off. This is to ensure that the tilt angle of the lifting system 3 and the cleaning system 4 is consistent with the tilt angle of the tracked chassis 1 and the ground, avoiding damage to the lifespan of the cleaning system 4 due to different tilt angles. At this time, the whole machine controller 7 sends a cleaning signal to control the cleaning electric push rod 18 in the lifting system 3 to work, causing the extended end of the cleaning electric push rod 18 to extend, causing the cleaning adjusting arm 19 to rotate around the cleaning drum shaft 28. Since the cleaning system 4 is connected to the cleaning adjusting arm 19 through the V-shaped connecting arm 30, the cleaning system 4 will slowly descend until the drum 3 in the cleaning system 4... 7. Upon contact with the ground, the machine controller 7 stops the electric push rod 18. The machine controller 7 then starts controlling the cleaning motor 31. The output end of the cleaning motor 31 is fixed to a drive shaft 40, and one end of the drive shaft 40 is fixed to a drive gear 41. Power is transmitted to the driven gear 42 via a chain 43, and the driven gear 42 transmits power to the driven shaft 36, thereby driving the drum 37 to rotate and clean the ground. Simultaneously, the machine controller 7 controls the high-pressure water pump 45 to operate. Water is pumped into the high-pressure water pump 45 through the water pump inlet pipe 46 and transmitted to the high-pressure nozzle 32 through the water pump outlet pipe 47, causing the drum to rotate. 37. High-pressure washing is performed simultaneously with floor cleaning. As the intelligent cleaning robot moves along the planned path, the overall controller 7 controls the robot's movement and sends control signals to the hose reel controller 62 via the robot's wireless Wi-Fi module 48. The hose reel controller 62 controls the hose reel motor 63 to start working, transmitting power to the hose reel drive gear 70 via the hose reel drive shaft 69. The hose reel drive gear 70 transmits power to the hose reel driven gear 71 via the hose reel drive chain 72, causing the hose reel driven shaft 68 to rotate, thereby rotating the reel 65 and releasing the water hose 66. At this time, the hose reel control... The device 62 sends a signal to the whole machine controller 7 via the wireless WiFi module 61 of the hose reel. The whole machine controller 7 continuously adjusts the speed of the hose reel motor 63 so that the speed of the water pipe 66 winding out of the reel 65 is synchronized with the speed of the intelligent cleaning robot. After the livestock and poultry house floor 76 is cleaned, the whole machine controller 7 controls the cleaning electric push rod 18 in the lifting system 3 to work, so that the telescopic end of the cleaning electric push rod 18 retracts and the cleaning adjustment arm 19 is in a horizontal state. Then, the whole machine controller 7 controls the cleaning electric push rod 18 to stop working. At the same time, the whole machine controller 7 sends a signal to the high-pressure water pump 45 to stop working.

[0030] When the intelligent cleaning robot cleans the bottom of the slatted floor 75, the self-balancing system 2 is activated to ensure that the lifting system 3 and the cleaning system 4 are parallel to the slatted floor 75 at their tilt angles. At this time, the tracked chassis 1 is parallel to the ground and will not affect the lifting system 3 and the cleaning system 4. The whole machine controller 7 receives the positioning signal transmitted by the 3D laser radar 49 and controls the intelligent cleaning robot to drive into the area of ​​the intelligent lifting platform 53. After the intelligent cleaning robot has completely driven onto the platform 59 of the intelligent lifting platform 53, the whole machine controller 7 sends a control signal to the lifting platform controller 58 through the robot's wireless Wi-Fi module 48, and the lifting... Platform controller 58 controls the retraction of the electric push rod 60 of the lifting platform, causing the support platform 59 to continuously descend until it is level with the ground 77 of the manure ditch. Then, the electric push rod 60 stops working and sends a signal to the overall controller 7 via the wireless Wi-Fi module 56 of the lifting platform. The overall controller 7 then controls the intelligent cleaning robot to enter the manure ditch to perform the cleaning task. At this time, the overall controller 7 controls the lifting electric push rod 17 in the lifting system 3 to work, causing the telescopic end of the lifting electric push rod 17 to extend. The lifting bracket 16 is then subjected to force, causing its front end to rise, which in turn drives the cleaning adjustment arm 19, along with the V-shaped connecting arm 30, to move the cleaning system... When the roller 37 in the cleaning system 4 rises and contacts the bottom of the slatted floor 75, the overall controller 7 stops the lifting electric push rod 17. The overall controller 7 then starts controlling the cleaning motor 31 to work. The output end of the cleaning motor 31 is fixed with a drive shaft 40, and one end of the drive shaft 40 is fixed with a drive gear 41. Power is transmitted to the driven gear 42 through the chain 43, and the driven gear 42 transmits power to the driven shaft 36, thereby driving the roller 37 to rotate and clean the bottom of the slatted floor 75. At the same time, the overall controller 7 controls the high-pressure water pump 45 to work. The high-pressure water pump 45 draws water from the water pump inlet pipe 46. After the water source is pumped in, it is transmitted to the high-pressure nozzle 32 through the water pump outlet pipe 47, so that the roller 37 performs high-pressure rinsing while cleaning. At the same time, the high-definition camera 51 works to observe the cleaning situation and transmits real-time data to the data feedback center. After the bottom of the slatted floor 75 is cleaned, the whole machine controller 7 controls the lifting electric push rod 17 in the lifting system 3 to work, so that the telescopic end of the lifting electric push rod 17 retracts, and the front end of the lifting bracket 16 descends until the cleaning adjustment arm 19 is in a horizontal state. Then, the whole machine controller 7 controls the lifting electric push rod 17 to stop working. At the same time, the whole machine controller 7 sends a signal to the high-pressure water pump 45 to stop working.

[0031] When the intelligent cleaning robot cleans the ditch floor 77, the self-balancing system 2 is shut down. This is to ensure that the tilt angles of the lifting system 3 and the cleaning system 4 are consistent with the tilt angles of the tracked chassis 1 and the ground, avoiding damage to the lifespan of the cleaning system 4 due to different tilt angles. At this time, the whole machine controller 7 sends a cleaning signal to control the cleaning electric push rod 18 in the lifting system 3 to work, causing the extended end of the cleaning electric push rod 18 to extend. As the extended end of the cleaning electric push rod 18 extends, the cleaning adjusting arm 19 rotates around the cleaning drum shaft 28. Since the cleaning system 4 is connected to the cleaning adjusting arm 19 through the V-shaped connecting arm 30, the cleaning system 4 will slowly descend until the drum 37 in the cleaning system 4 contacts the ground. At this time, the whole machine controller 7 controls the cleaning electric push rod 18 to stop working. The whole machine controller 7 then starts controlling the cleaning motor 31 to work. The output end of the cleaning motor 31 is fixed with a drive shaft 40, and one end of the drive shaft 40 is fixed with a drive gear 41. Power is transmitted to the driven gear 4 through the chain 43. 2. Driven gear 42 transmits power to driven shaft 36, thereby driving roller 37 to rotate and clean the floor 77 of the manure ditch. At the same time, the whole machine controller 7 controls the high-pressure water pump 45 to work. After the high-pressure water pump 45 pumps water into the water source through the water pump inlet pipe 46, it is transmitted to the high-pressure nozzle 32 through the water pump outlet pipe 47, so that the roller 37 performs high-pressure rinsing while cleaning the floor. When the floor 77 of the manure ditch is cleaned, the whole machine controller 7 controls the cleaning electric push rod 18 to work, so that the extended end of the cleaning electric push rod 18 retracts and the cleaning adjustment arm 19 is in a horizontal state. Then, the whole machine controller 7 controls the cleaning electric push rod 18 to stop working. At the same time, the whole machine controller 7 sends a signal to the high-pressure water pump 45 to stop working.

[0032] When the intelligent cleaning robot needs to return to the livestock shed floor 76, the whole machine controller 7 receives the positioning signal transmitted by the 3D laser radar 49. The whole machine controller 7 controls the intelligent cleaning robot to drive onto the carrier platform 59 of the intelligent lifting platform 53, and sends a control signal to the lifting platform controller 58 through the robot's wireless wifi module 48. The lifting platform controller 58 controls the lifting platform electric push rod 60 to extend. After the carrier platform 59 rises to be level with the livestock shed floor 76, the control lifting platform electric push rod 60 stops working, and sends a signal to the whole machine controller 7 through the lifting platform wireless wifi module 56. The whole machine controller 7 controls the intelligent cleaning robot to drive out of the area of ​​the intelligent lifting platform 53.

Claims

1. An intelligent cleaning robot for livestock and poultry houses, characterized in that Including track chassis (1), self-balancing system (2), lifting system (3) and cleaning system (4), the self-balancing system (2) is fixed on the upper end rear side of track chassis (1), the lifting system (3) is fixed on the upper end of self-balancing system (2), the cleaning system (4) is installed on the front end of lifting system (3);The self-balancing system (2) includes self-balancing platform (5), electric push rod (6) and whole machine controller (7), four bases (8) are fixed on the upper end rear side of the track chassis (1), bearing seat fixing piece (9) is fixed on the upper end of base (8), fish eye bearing seat (10) is installed on bearing seat fixing piece (9), electric push rod (6) is fixed on the upper end of fish eye bearing seat (10), ball hinge joint bearing (11) is provided on the upper end of electric push rod (6), ball hinge fixed block (12) is respectively fixed at the bottom four corners of the self-balancing platform (5), the ball hinge joint bearing (11) is connected with the ball hinge fixed block (12) together;Water inlet pipe clamping groove (13) is fixed on the upper end of the self-balancing platform (5) on one side, and self-balancing control box (14) is fixed on the bottom end, double-axis inclination sensor (15) and whole machine controller (7) are provided in the self-balancing control box (14), and the double-axis inclination sensor (15) identifies the angle inclination of the self-balancing platform (5).

2. The intelligent cleaning robot for livestock and poultry house according to claim 1, characterized in that The lifting system (3) comprises a lifting support (16), a lifting electric push rod (17), a cleaning electric push rod (18) and a cleaning adjusting arm (19), the cross section of the lifting support (16) is U-shaped, two connecting plates (20) are fixed on the rear end center position of the self-balancing table (5), a lifting roller shaft (21) is rotatably connected between the two connecting plates (20), the two ends of the lifting roller shaft (21) are fixed with the two sides of the lifting support (16) respectively, two connecting plates I (22) are fixed on the two sides of the rear end of the self-balancing table (5) respectively, driven shafts I (23) are fixedly connected between the two connecting plates I (22) respectively, the tail ends of the lifting electric push rods (17) are rotatably connected on the driven shafts I (23), lifting roller shaft bearings (24) are arranged between the front ends of the lifting support (16), a lifting roller shaft I (25) is arranged between the front ends of the lifting support (16), the extension ends of the two lifting electric push rods (17) are rotatably connected with the connecting shafts at the two ends of the lifting roller shaft I (25); driven shafts II (26) are fixedly connected between the side walls of the rear end of the lifting support (16), the tail ends of the cleaning electric push rods (18) are rotatably connected on the driven shafts II (26), cleaning roller shaft bearings (27) are arranged between the front end heads of the lifting support (16), a cleaning roller shaft (28) is arranged between the front end heads of the lifting support (16), the connecting shafts at the two ends of the cleaning roller shaft (28) are connected with the middle of the U-shaped cleaning adjusting arm (19), drive shafts (29) are fixed between the upper ends of the side walls of the cleaning adjusting arm (19), the extension ends of the cleaning electric push rods (18) are rotatably connected with the sleeves on the outer walls of the drive shafts (29), V-shaped connecting arms (30) are fixed at the lower ends of the cleaning adjusting arm (19), and a cleaning system (4) is arranged between the lower ends of the two side arms of the V-shaped connecting arms (30).

3. The intelligent cleaning robot for livestock and poultry house according to claim 1 or 2, characterized in that The cleaning system (4) comprises a cleaning motor (31) and high-pressure nozzles (32), cleaning side plates (33) are fixedly connected at the lower ends of the side walls of the V-shaped connecting arms (30) respectively, a cleaning bottom plate (34) is fixedly connected between the two cleaning side plates (33), a driven shaft (36) is arranged between the lower ends of the two cleaning side plates (33) through a bearing (35), a roller (37) is fixedly sleeved on the outer wall of the driven shaft (36), a fixed clamping groove (38) and the cleaning motor (31) are fixed on the cleaning bottom plate (34), a plurality of high-pressure nozzles (32) are arranged on the fixed clamping groove (38), a driving shaft (40) is fixed at the output end of the cleaning motor (31), one end of the driving shaft (40) penetrates through one side of the cleaning side plate (33) and is fixed with a driving gear (41) at the end thereof, a driven gear (42) is fixed at one side end of the driven shaft (36), and the driving gear (41) and the driven gear (42) are drivingly connected through a chain (43).

4. The intelligent cleaning robot for livestock and poultry house according to claim 3, characterized in that a battery (44) and a high-pressure water pump (45) are fixed on the front side of the upper end of the crawler chassis (1), a water pump inlet pipe (46) is connected to the inlet end of the high-pressure water pump (45), and a water pump outlet pipe (47) is connected to the outlet end of the high-pressure water pump (45), the water pump inlet pipe (46) is placed in the water inlet pipe clamping groove (13) and clamped together, one end of the water pump outlet pipe (47) is connected to a plurality of water outlet branch pipes, and the plurality of water outlet branch pipes are connected to a plurality of high-pressure nozzles (32) respectively.

5. The intelligent cleaning robot for livestock and poultry house according to claim 1 or 2, characterized in that A robot wireless wifi module (48) is arranged on the rear end face of the crawler chassis (1).

6. The intelligent cleaning robot for livestock and poultry house according to claim 1 or 2, characterized in that a 3D laser radar (49) is arranged on the other side of the rear end of the self-balancing platform (5), an installation plate (50) is arranged on the rear end of the self-balancing platform (5), and a high-definition camera (51) is fixed on the center of the rear end face of the installation plate (50).

7. The intelligent cleaning robot for livestock and poultry house according to claim 1 or 2, characterized in that A dustproof and waterproof cover (52) is arranged on the outside of the self-balancing system (2).

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