Disinfecting and killing robot dog for livestock breeding

Abstract

The invention belongs to the field of disinfecting and killing equipment, and particularly relates to a disinfecting and killing robot dog for livestock breeding, which comprises a robot dog host, a liquid storage module, a disinfecting and killing module, a sensing module, an intelligent control system and a safety protection system, the liquid storage module, the disinfecting and killing module, the sensing module, the intelligent control system and the safety protection system are all integrally installed on the outer side and the upper portion of the robot dog main machine, and the bionic four-foot chassis is fixedly arranged at the bottom of the robot dog main machine. Through the multi-joint design that the bionic four-foot chassis and the pressure sensing piece are arranged, the four walking units are matched with the shoulder rotating shaft, the elbow rotating shaft and the wrist rotating shaft, the robot can flexibly adapt to complex terrains such as a manure ditch cover plate and a doorsill in a breeding house, the pressure sensor and the spring work cooperatively, the ground flatness can be detected in real time, bumping can be buffered, and the working efficiency is improved. The equipment moving stability is improved, and the problem that traditional equipment is limited in passing is solved.

Description

Technical Field

[0001] This invention belongs to the field of pest control equipment, and in particular relates to a pest control robot dog for livestock farming. Background Technology

[0002] Disinfection and pest control in livestock farming is a core component of the biosecurity system for large-scale farming. Its purpose is to kill or inhibit pathogenic microorganisms in farms through physical, chemical, and biological means, cut off the transmission routes of diseases, and ensure the health of livestock and poultry and the profitability of farming. Its core requirements are full coverage, no dead ends, low stress, and traceability.

[0003] A livestock breeding shed disinfection device and disinfection method are disclosed in CN116173263A, including a main structure, a first disinfection structure and a second disinfection structure; the first disinfection structure is detachably mounted on the main structure, and the second disinfection structure is movably mounted on the main structure. The main structure includes a base, two pairs of casters, a main box, two pairs of pipe hooks, a battery, a switch, a baffle, a liquid pump, a fastening ring and a bearing cylinder. The base is a rectangular structure, and the two pairs of casters are fixedly mounted on the lower wall of the base and located at the four corners. The main box is a rectangular box structure without a front side wall, and a partition is provided in the middle of the left and right side walls.

[0004] The existing livestock farming pest control robots still have the following shortcomings: 1. Poor adaptability: Traditional equipment often uses casters for movement, which can easily get stuck in complex terrain such as manure ditch covers, thresholds, and equipment gaps inside the pen, making it difficult to reach corner areas and resulting in incomplete disinfection coverage; 2. Insufficient pressure sensing and cushioning: The equipment lacks accurate sensing of the flatness of the ground during movement and has poor cushioning effect on uneven surfaces. This not only affects the stability of the equipment but also easily generates loud noise due to bumps, disturbing livestock and poultry. 3. Insufficient flexibility of disinfection modules: Existing disinfection structures mostly use fixed-angle spraying, which cannot flexibly adjust the spraying direction and range according to the scenario, resulting in poor disinfection effect on special areas such as the surface of utensils, corners and crevices; 4. Lack of adaptability between liquid storage and temperature control: A single liquid storage structure is difficult to accommodate the separate storage of disinfectant and water, and the activity of the disinfectant is easily reduced in low-temperature environments, affecting the disinfection efficiency. At the same time, the lack of real-time monitoring of the liquid level makes it easy for liquid interruption to occur. 5. Poor coordination between perception and navigation: The visual and environmental parameter perception and positioning and navigation functions are disconnected, making it impossible to accurately identify the location of livestock and poultry, polluted areas and environmental changes, which may lead to the omission of key areas or disturbance of livestock and poultry during disinfection operations. 6. Inadequate safety protection system: It only focuses on basic operation functions, lacks special protection design for livestock and poultry stress response, and provides insufficient safety protection for operators, resulting in the risk of misoperation during operation. Summary of the Invention

[0005] The purpose of this invention is to address the problems of existing disinfection equipment mentioned in the background art, such as limited access, inaccurate disinfection, poor sensing and coordination, and insufficient safety protection, by providing a disinfection robot dog for livestock farming.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a disinfection robot dog for livestock breeding, comprising a robot dog host, a liquid storage module, a disinfection module, a sensing module, an intelligent control system, and a safety protection system. The liquid storage module, disinfection module, sensing module, intelligent control system, and safety protection system are all integrated and installed on the outside and top of the robot dog host. A bionic four-legged chassis is fixedly installed at the bottom of the robot dog host, and the bionic four-legged chassis includes four sets of walking units with identical structures.

[0007] Furthermore, the walking unit includes a shoulder rotation shaft, which is rotatably connected to the side of the robot dog host. A first-stage arm is fixedly connected to the lower side of the shoulder rotation shaft. An elbow rotation shaft is fixedly connected to the lower end of the first-stage arm. A second-stage arm is rotatably connected inside the elbow rotation shaft. An inner cavity is provided inside the second-stage arm. A pressure sensing element is provided on the lower side of the second-stage arm.

[0008] Furthermore, the pressure sensing component includes a pressure sensor, which is fixedly connected to the inner top surface of the inner cavity. The pressure sensor signal is connected to the robot dog host. A spring is fixedly connected to the lower surface of the pressure sensor. A connecting shaft is slidably connected inside the inner cavity. The lower end of the spring is fixedly connected to the upper end of the connecting shaft. A wrist rotation shaft is fixedly connected to the lower end of the connecting shaft. A grounding foot is rotatably connected inside the wrist rotation shaft.

[0009] Furthermore, the liquid storage module includes a liquid storage tank, which is fixedly installed on the upper surface of the robot dog host. The interior of the liquid storage tank is divided into a main disinfection liquid compartment and a backup clean water compartment by a partition. The top of the liquid storage tank has two liquid inlets, and the bottom of the liquid storage tank has a drain pipe. A liquid level sensor is fixedly installed inside the liquid storage tank and is connected to the intelligent control system via a circuit. A heater is fixedly installed on the outer wall of the liquid storage tank and is electrically connected to the intelligent control system via a circuit.

[0010] Furthermore, the sensing module includes a visual sensing unit, an environmental sensing unit, and a positioning navigator. The visual sensing unit includes a camera, which is fixedly connected to the front side of the robot dog host. The camera is connected to the intelligent control system via a circuit. The environmental sensing unit is fixedly installed on one side of the liquid storage tank and includes a temperature and humidity sensor and an environmental sensor. The positioning navigator is fixedly connected to the outer side of the robot dog host. The temperature and humidity sensor, the environmental sensor, and the positioning navigator are all connected to the intelligent control system via circuits.

[0011] Furthermore, the disinfection module includes a turntable, which is rotatably connected to the upper surface of the robot dog host. A bogie is fixedly connected to the upper surface of the turntable, and a fixed frame is rotatably connected between the inner sides of the bogie. Two disinfection pipes are passed through and fixedly connected inside the fixed frame. A connecting pipe is fixedly connected to the end of each of the two disinfection pipes near the liquid storage tank. Two water pumps are fixedly connected to the outer side of the liquid storage tank. The input ends of the two water pumps are fixedly connected to the spare clean water tank and the main disinfection liquid tank, respectively. The two connecting pipes are respectively connected to the output ends of the two water pumps.

[0012] Furthermore, the intelligent control system is embedded inside the robot dog host. The intelligent control system includes an industrial-grade intelligent controller, an edge computing chip, and a battery management system. The edge computing chip is electrically connected to the industrial-grade intelligent controller. The industrial-grade intelligent controller is connected to each functional module via circuits. The battery management system is electrically connected to the industrial-grade intelligent controller. The battery management system is equipped with a 48V high-capacity lithium battery. The lithium battery is connected to each power-consuming module via circuits. The intelligent control system establishes communication connections with a mobile APP, a computer, and a cloud management platform via wireless signals.

[0013] Furthermore, the safety protection system is linked with the intelligent control system and the sensing module through wiring. The safety protection system includes a livestock and poultry stress protection unit, which includes a noise control module and a livestock and poultry approach warning module. The noise control module is integrated into the internal drive component of the robot dog host, and the livestock and poultry approach warning module is connected to the visual sensing unit and the intelligent control system through wiring.

[0014] Compared with existing technologies, the advantages of this livestock breeding disinfection robot dog are: 1. This invention, by setting up a bionic four-legged chassis and pressure sensing components, and with four sets of walking units combined with the multi-joint design of shoulder rotation axis, elbow rotation axis and wrist rotation axis, can flexibly adapt to complex terrain such as manure ditch covers and thresholds in the pen. The pressure sensor and spring work together to detect the flatness of the ground in real time and buffer the bumps, improve the stability of the equipment movement, and solve the problem of limited passage of traditional equipment.

[0015] 2. This invention features an adjustable disinfection module, allowing the turntable to rotate 360° horizontally and the mounting bracket to be adjusted vertically. Combined with the dual-path design of two disinfection pipes, it can accurately cover different disinfection scenarios such as spaces, floors, appliances, and corners. The compartmentalized structure of the main disinfection liquid tank and the backup clean water tank allows for quick switching between disinfection and rinsing functions, resulting in more targeted disinfection.

[0016] 3. This invention sets up a multi-dimensional sensing module and links it with an intelligent control system. Cameras, temperature and humidity sensors, environmental sensors and positioning navigators work together to collect data. The industrial-grade intelligent controller quickly processes the data and generates the optimal operation plan. It supports remote control and cloud data storage, realizing the precision, intelligence and traceability of disinfection operations, and greatly reducing the cost of manual intervention.

[0017] 4. This invention improves operational safety and reliability by setting up a comprehensive safety protection system, including a noise control module to reduce operational interference, a livestock and poultry approach warning module to avoid disturbing livestock and poultry, a liquid level sensor to monitor the liquid level in real time to prevent liquid interruption, and a heater to ensure the activity of the agent in low-temperature environments, thus adapting to the stringent requirements of large-scale farming. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a disinfection robot dog for livestock farming provided by the present invention; Figure 2 This is a cross-sectional structural diagram of the walking unit provided by the present invention; Figure 3 This is a schematic diagram of the structure of the liquid storage module and the sensing module provided by the present invention; Figure 4 This is a top view of the disinfection module provided by the present invention; Figure 5 yes Figure 4 Enlarged view of section A.

[0019] In the diagram: 1. Robot dog main unit; 11. Shoulder rotation axis; 12. First-order arm; 13. Elbow rotation axis; 14. Second-order arm; 15. Inner cavity; 16. Pressure sensor; 17. Spring; 18. Connecting shaft; 19. Wrist rotation axis; 110. Grounding foot; 2. Liquid storage tank; 21. Spare clean water tank; 22. Main disinfectant tank; 23. Liquid inlet; 24. Heater; 25. Drain pipe; 3. Turntable; 31. Bogie; 32. Fixing frame; 33. Disinfection pipe; 34. Connecting pipe; 35. Water pump; 4. Camera; 41. Temperature and humidity sensor; 42. Environmental sensor; 43. Positioning and navigation device. Detailed Implementation

[0020] The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0021] like Figures 1-5 As shown, a disinfection robot dog for livestock farming includes a robot dog host 1, a liquid storage module, a disinfection module, a sensing module, an intelligent control system, and a safety protection system. The liquid storage module, disinfection module, sensing module, intelligent control system, and safety protection system are all integrated and installed on the outside and top of the robot dog host 1. A bionic quadruped chassis is fixedly installed at the bottom of the robot dog host 1. The bionic quadruped chassis includes four sets of walking units with the same structure. The walking unit includes a shoulder rotation shaft 11, which is rotatably connected to the side of the robot dog host 1. A first-order arm 12 is fixedly connected to the lower side of the shoulder rotation shaft 11. An elbow rotation shaft 13 is fixedly connected to the lower end of the first-order arm 12. A second-order arm 14 is rotatably connected inside the elbow rotation shaft 13. An inner cavity 15 is provided inside the second-order arm 14. A pressure sensing element is provided on the lower side of the second-order arm 14. The pressure sensing component includes a pressure sensor 16, which is fixedly connected to the inner top surface of the inner cavity 15. The pressure sensor 16 is connected to the robot dog host 1 via a signal. A spring 17 is fixedly connected to the lower surface of the pressure sensor 16. A connecting shaft 18 is slidably connected inside the inner cavity 15. The lower end of the spring 17 is fixedly connected to the upper end of the connecting shaft 18. A wrist rotation shaft 19 is fixedly connected to the lower end of the connecting shaft 18. A ground foot 110 is rotatably connected inside the wrist rotation shaft 19. By setting up a bionic quadruped chassis and pressure sensing components, the four walking units, in conjunction with the multi-joint design of the shoulder rotation shaft 11, elbow rotation shaft 13, and wrist rotation shaft 19, can flexibly adapt to complex terrains such as manure ditch covers and thresholds inside the enclosure. The pressure sensor 16 and the spring 17 work together to detect the flatness of the ground in real time and buffer bumps, improving the stability of the equipment's movement and solving the problem of limited passage of traditional equipment. The liquid storage module includes a liquid storage tank 2, which is fixedly installed on the upper surface of the robot dog host 1. The interior of the liquid storage tank 2 is divided into a main disinfection liquid tank 22 and a spare clean water tank 21 by a partition. There are two liquid inlets 23 on the top of the liquid storage tank 2 and a drain pipe 25 at the bottom of the liquid storage tank 2. A liquid level sensor is fixedly installed inside the liquid storage tank 2 and is connected to the intelligent control system via a circuit. A heater 24 is fixedly installed on the outer wall of the liquid storage tank 2 and is electrically connected to the intelligent control system via a circuit. The sensing module includes a visual sensing unit, an environmental sensing unit, and a positioning navigator 43. The visual sensing unit includes a camera 4, which is fixedly connected to the front side of the robot dog host 1. The camera 4 is connected to the intelligent control system via a wire. The environmental sensing unit is fixedly installed on one side of the liquid storage tank 2 and includes a temperature and humidity sensor 41 and an environmental sensor 42. The positioning navigator 43 is fixedly connected to the outer side of the robot dog host 1. The temperature and humidity sensor 41, the environmental sensor 42, and the positioning navigator 43 are all connected to the intelligent control system via a wire. By setting up a multi-dimensional sensing module and linking it with the intelligent control system, the camera 4, the temperature and humidity sensor 41, the environmental sensor 42, and the positioning navigator 43 collaboratively collect data. The industrial-grade intelligent controller quickly processes and generates the optimal operation plan, supports remote control and cloud data storage, and realizes the precision, intelligence, and traceability of disinfection operations, greatly reducing the cost of manual intervention. The disinfection module includes a turntable 3, which is rotatably connected to the upper surface of the robot dog host 1. A bogie 31 is fixedly connected to the upper surface of the turntable 3. A fixed frame 32 is rotatably connected between the inner sides of the bogie 31. Two disinfection pipes 33 are connected through and fixedly connected inside the fixed frame 32. A connecting pipe 34 is fixedly connected to the end of each of the two disinfection pipes 33 near the liquid storage tank 2. Two water pumps 35 are fixedly connected to the outer side of the liquid storage tank 2. The input ends of the two water pumps 35 are fixedly connected to the spare clean water tank 21 and the main disinfection liquid tank 22, respectively. The two connecting pipes 34 are connected to the output ends of the two water pumps 35, respectively. By setting an adjustable disinfection module, the turntable 3 can achieve 360° horizontal rotation, and the fixed frame 32 can be adjusted up and down. With the dual-path design of the two disinfection pipes 33, it can accurately cover different disinfection scenarios such as space, ground, utensils and corners. The compartmentalized structure of the main disinfection liquid tank 22 and the spare clean water tank 21 can realize the rapid switching between disinfection and rinsing functions, making the disinfection more targeted. The intelligent control system is embedded in the robot dog host 1. The intelligent control system includes an industrial-grade intelligent controller, an edge computing chip and a battery management system. The edge computing chip is electrically connected to the industrial-grade intelligent controller. The industrial-grade intelligent controller is connected to each functional module via lines. The battery management system is electrically connected to the industrial-grade intelligent controller. The battery management system is equipped with a 48V high-capacity lithium battery. The lithium battery is connected to each power module via lines. The intelligent control system establishes communication connections with the mobile APP, computer and cloud management platform via wireless signals. The safety protection system is linked with the intelligent control system and sensing module through wiring. The safety protection system includes a livestock and poultry stress protection unit, which contains a noise control module and a livestock and poultry approach warning module. The noise control module is integrated into the internal drive component of the robot dog host 1. The livestock and poultry approach warning module is connected to the visual sensing unit and intelligent control system through wiring. By setting up a comprehensive safety protection system, the noise control module reduces operational interference, the livestock and poultry approach warning module avoids disturbing livestock and poultry, the liquid level sensor monitors the liquid level in real time to prevent liquid interruption, and the heater 24 ensures the activity of the agent in low-temperature environments, comprehensively improving the safety and reliability of operations and adapting to the stringent requirements of large-scale farming.

[0022] The working principle of this invention is as follows: Before operation, the user adds the appropriate disinfectant to the main disinfectant tank 22 through the inlet 23 and adds clean water to the backup clean water tank 21. The user sets the disinfection area, operation route and disinfection parameters through the mobile APP or computer. After receiving the instructions, the intelligent control system plans the optimal operation path by combining the farm layout information obtained by the positioning navigator 43. After the equipment is started, the walking unit of the bionic quadruped chassis works in concert. The shoulder rotation axis 11, elbow rotation axis 13, and wrist rotation axis 19 flexibly adjust the gait to adapt to the complex terrain inside the enclosure. When the ground foot 110 contacts the ground, the connecting shaft 18 buffers the bumps under the action of the spring 17. The pressure sensor 16 detects the changes in ground pressure in real time and feeds them back to the intelligent control system to adjust the movement of each joint to ensure that the equipment moves smoothly. During operation, camera 4 captures images in real time, identifies the location of livestock and poultry and obstacles. If livestock or poultry are detected approaching, the livestock and poultry approach warning module immediately triggers an instruction to reduce the equipment's moving speed and reduce operating noise. Temperature and humidity sensor 41 and environmental sensor 42 collect environmental parameters. If the temperature is too low, the intelligent control system starts heater 24 to heat the disinfectant, ensuring the disinfection effect. Positioning navigator 43 updates the equipment's location in real time to ensure operation along the planned route and avoid omissions or repetitions. According to the needs of the disinfection scenario, the intelligent control system starts the corresponding water pump 35 and adjusts the spray direction and angle of the disinfection pipe 33 through the turntable 3 and the fixed frame 32: when disinfecting the enclosure space, the spray range is expanded to achieve full coverage; when disinfecting the surface of the equipment, the spray is precisely aimed at the target area; after the disinfection is completed, the water pump 35 of the backup clean water tank 21 can be switched to spray clean water through the disinfection pipe 33 to rinse the equipment pipeline and residual agents in the work area. During the operation, the liquid level sensor monitors the remaining liquid level in real time. When the remaining level is lower than the preset threshold, the intelligent control system issues a reminder, and the user can remotely instruct the equipment to return to the filling point or end the operation. After the operation is completed, the equipment returns along the planned route, and the operation data (disinfection area, chemical consumption, environmental parameters, etc.) is automatically uploaded to the cloud management platform for easy traceability and statistics by the user.

[0023] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A livestock breeding and killing robot dog, characterized in that, The system includes a robot dog host (1), a liquid storage module, a disinfection module, a sensing module, an intelligent control system, and a safety protection system. The liquid storage module, disinfection module, sensing module, intelligent control system, and safety protection system are all integrated and installed on the outside and top of the robot dog host (1). A bionic quadruped chassis is fixedly installed at the bottom of the robot dog host (1). The bionic quadruped chassis contains four sets of walking units with the same structure.

2. The livestock breeding and killing robot dog of claim 1, wherein, The walking unit includes a shoulder rotation shaft (11), which is rotatably connected to the side of the robot dog host (1). A first-order arm (12) is fixedly connected to the lower side of the shoulder rotation shaft (11). An elbow rotation shaft (13) is fixedly connected to the lower end of the first-order arm (12). A second-order arm (14) is rotatably connected inside the elbow rotation shaft (13). An inner cavity (15) is provided inside the second-order arm (14). A pressure sensing element is provided on the lower side of the second-order arm (14).

3. The livestock breeding disinfection robot dog according to claim 2, characterized in that, The pressure sensing component includes a pressure sensor (16), which is fixedly connected to the inner top surface of the inner cavity (15). The pressure sensor (16) is signal-connected to the robot dog host (1). A spring (17) is fixedly connected to the lower surface of the pressure sensor (16). A connecting shaft (18) is slidably connected inside the inner cavity (15). The lower end of the spring (17) is fixedly connected to the upper end of the connecting shaft (18). A wrist rotation shaft (19) is fixedly connected to the lower end of the connecting shaft (18). A ground foot (110) is rotatably connected inside the wrist rotation shaft (19).

4. The livestock breeding disinfection robot dog according to claim 1, characterized in that, The liquid storage module includes a liquid storage tank (2), which is fixedly installed on the upper surface of the robot dog host (1). The liquid storage tank (2) is divided into a main disinfection liquid tank (22) and a spare clean water tank (21) by a partition. The liquid storage tank (2) has two liquid inlets (23) on the top and a drain pipe (25) on the bottom. A liquid level sensor is fixedly installed inside the liquid storage tank (2) and is connected to the intelligent control system via a circuit. A heater (24) is fixedly installed on the outer wall of the liquid storage tank (2) and is electrically connected to the intelligent control system via a circuit.

5. The livestock breeding disinfection robot dog according to claim 1, characterized in that, The sensing module includes a visual sensing unit, an environmental sensing unit, and a positioning navigator (43). The visual sensing unit includes a camera (4), which is fixedly connected to the front side of the robot dog host (1). The camera (4) is connected to the intelligent control system via a line. The environmental sensing unit is fixedly installed on one side of the liquid storage tank (2) and includes a temperature and humidity sensor (41) and an environmental sensor (42). The positioning navigator (43) is fixedly connected to the outer side of the robot dog host (1). The temperature and humidity sensor (41), the environmental sensor (42), and the positioning navigator (43) are all connected to the intelligent control system via a line.

6. The livestock breeding disinfection robot dog according to claim 4, characterized in that, The disinfection module includes a turntable (3), which is rotatably connected to the upper surface of the robot dog host (1). A bogie (31) is fixedly connected to the upper surface of the turntable (3). A fixed frame (32) is rotatably connected between the inner sides of the bogie (31). Two disinfection pipes (33) are connected through and fixedly connected inside the fixed frame (32). A connecting pipe (34) is fixedly connected to the end of each of the two disinfection pipes (33) near the liquid storage tank (2). Two water pumps (35) are fixedly connected to the outer side of the liquid storage tank (2). The input ends of the two water pumps (35) are fixedly connected to the spare clean water tank (21) and the main disinfection liquid tank (22), respectively. The two connecting pipes (34) are connected to the output ends of the two water pumps (35), respectively.

7. The livestock breeding disinfection robot dog according to claim 1, characterized in that, The intelligent control system is embedded in the robot dog host (1). The intelligent control system includes an industrial-grade intelligent controller, an edge computing chip and a battery management system. The edge computing chip is electrically connected to the industrial-grade intelligent controller. The industrial-grade intelligent controller is connected to each functional module via lines. The battery management system is electrically connected to the industrial-grade intelligent controller. The battery management system is equipped with a 48V high-capacity lithium battery. The lithium battery is connected to each power module via lines. The intelligent control system establishes communication connections with a mobile APP, a computer and a cloud management platform via wireless signals.

8. The livestock breeding disinfection robot dog according to claim 1, characterized in that, The safety protection system is linked with the intelligent control system and the sensing module through the line. The safety protection system includes a livestock and poultry stress protection unit. The livestock and poultry stress protection unit includes a noise control module and a livestock and poultry approach warning module. The noise control module is integrated into the internal drive component of the robot dog host (1). The livestock and poultry approach warning module is connected to the visual sensing unit and the intelligent control system through the line.

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