Residual material processing control system and control method of multifunctional robot for pasture

Abstract

The invention relates to the technical field of stockbreeding machinery, in particular to a leftover material processing control system and control method of a multifunctional robot for a pasture, an automatic driving controller and a vehicle controller which are located at the lower end of the side of a vehicle and are in communication connection with each other are arranged, and the automatic driving controller is connected with a control center; a vehicle controller is arranged to be connected with a plurality of proximity switches, a weighing sensor, a discharging guide plate electric cylinder for controlling a discharging guide plate to be opened and closed, and a hydraulic power unit for controlling a collecting device oil cylinder, a discharging door oil cylinder and a scraper oil cylinder. The robot vehicle is further in communication connection with a walking motor, a steering motor, an auger motor, a collecting device motor, a disc sweeping brush motor and a rolling sweeping brush motor which drive the vehicle to move, the robot vehicle can be automatically controlled to arrive at a preset breeding house to collect, stir and scatter residual feed according to an operation instruction issued by a control center, intelligent operation is achieved, time and labor are saved, and the working efficiency is improved. And the working efficiency is high, and the body health of workers is effectively protected.

Description

Technical Field

[0001] This invention relates to the field of livestock machinery technology, and in particular to a control system and control method for handling leftover materials in a multi-functional robot used in ranches. Background Technology

[0002] Currently, in domestic ruminant farms, feeding equipment can be basically divided into two main types and modes: fixed and towed. Fixed feeding equipment generally involves manually adding various feeds to a fixed feed preparation machine using a forklift. The fixed feed preparation machine cuts and mixes the feed, and then the mixed feed is transported to a spreader truck. Workers then drive the spreader truck into the pen to spread the feed.

[0003] Tractor-driven feeding equipment typically involves manually loading various feeds and forages into a tractor-driven feed preparation machine using a loader. The tractor's PTO (Power Transfer Towing) then directly drives the tractor-driven feed preparation machine to cut, stir, and mix the feed. Afterward, workers drive a tractor to tow the tractor-driven feed preparation machine into the pen to spread the feed.

[0004] Taking dairy farms as an example, it is necessary to collect the leftover feed from dairy cows at regular intervals every day, mix it again, and then distribute it to the pens of young cattle or replacement cattle. This ensures the freshness of the dairy cow feed while avoiding feed waste. Currently, the collection of leftover feed is generally done manually by vehicles. Most cattle and sheep farms feed three times a day, and the leftover feed is cleaned manually each time, which is time-consuming, labor-intensive, and has high labor costs. In addition, in each stage of animal feeding, the equipment cannot be separated from the on-site operation of farm staff. Not only does the dust and odor in the working environment seriously affect the health of the staff, but the functions of each piece of equipment are relatively simple, the degree of automation is low, the manual labor intensity is high, and the efficiency is low. Therefore, there is an urgent need for a multi-functional robot-based leftover feed processing control system and control method for farms, which can automatically collect, cut, mix, and distribute leftover feed in the cattle pens according to instructions. Summary of the Invention

[0005] This invention discloses a control system and control method for waste material processing of a multi-functional robot used in ranches, aiming to solve the technical problems existing in the prior art.

[0006] The present invention adopts the following technical solution: A method for controlling the handling of leftover materials by a multi-functional robot used in a ranch includes the following steps: Process of collecting leftover materials: The system obtains the operation instructions issued by the control center, which include the pen code for pre-processing leftover material and the driving route; obtains navigation information, drives the vehicle from the parking point to the preset position of the feeding channel of the designated pen, lowers the collection device assembly and opens the scraper collection device, drives the vehicle forward and collects and transports the leftover material to the feed bin provided in the feed bin assembly; Leftover material mixing process: According to the stirring command, the feed processing device installed at the bottom of the hopper is driven to stir the remaining material for a preset time; Spreading process: Obtain navigation information, drive the vehicle into the preset position of the feeding channel in the designated feeding pen, control the opening of the discharge door on the side of the feed box, and start the auger to stir and spread the feed along one side of the feeding channel.

[0007] In some embodiments, the following steps are included prior to the collection of residual materials: Initialization status check: The proximity switch position information is obtained to confirm whether the lifting of the collection device assembly, the closing of the scraper bracket of the scraper collection device, and the closing of the side guard meet the preset correct positions. If the requirements are met, the vehicle goes to collect the remaining material. If the requirements are not met, the vehicle will first execute the initialization and recovery command. If the initialization and recovery fails, the vehicle controller will send a warning message to the control center to notify manual intervention to complete the task.

[0008] In some embodiments, the following steps are included before initializing the state check: Planning of driving routes within the ranch: The 3D LiDAR scans the pasture and obtains a map of the pasture enclosures. Based on the actual operational needs, several driving paths are planned within the pasture enclosure map, enabling the robot vehicle to perform different tasks according to the preset driving paths.

[0009] In some embodiments, the process of collecting residual materials further includes the following steps: The vehicle's autonomous navigation and control system controls the vehicle to start from the parking point, travel along the driving path to the first designated pen, and park at the preset starting position of the feeding channel; based on the acquired preset low-level information, it controls the collection device assembly to descend, and based on the acquired opening status information, it controls the scraper collection device to open to a preset angle, driving the vehicle to carry out collection operations. After the collection operation on one side is completed, the vehicle is controlled to perform the sorting operation: based on the obtained high position information, the collection device assembly is raised to a preset height, and based on the obtained closing status information, the scraper collection device is closed to a preset angle. The vehicle is then driven out of the pen and then turns around to enter the pen to collect data on the other side of the feeding channel. The aforementioned operation process is repeated. According to the work instructions, the collection operations of multiple preset enclosures are completed sequentially along the travel path.

[0010] In some embodiments, the process of collecting residual materials further includes the following steps: The system controls the vehicle to move forward along the feeding channel to collect leftover material, controls the disc brush to collect leftover material, and controls the feeding roller to continuously feed the leftover material on the feeding channel to the inclined conveyor belt. The conveyor belt, under the rotation of the drive roller and the driven roller, transports the leftover material to the top of the material box. At the same time, the system controls the roller brush located behind the disc brush to collect and throw out the broken material, the transverse conveying auger to transport the thrown leftover material to the lifting conveying auger, the lifting conveying auger to transport the leftover material to the conveyor belt, and after running along the conveyor belt to the top, it is thrown into the material box.

[0011] In some embodiments, the process of collecting residual materials further includes the following steps: Based on the obtained opening information of the discharge guide plate installed above the conveyor belt, the discharge guide plate is controlled to open to a preset angle; Based on the acquired state information of the driven roller, the working state of the driven roller is determined. If the acquired information is a continuously changing state, the driven roller is determined to be operating normally. If the acquired information is a state that remains unchanged for a long time, the driven roller is determined to stop operating.

[0012] In some embodiments, the residual material mixing process further includes the following steps: Obtain information from the weighing sensor installed at the bottom of the material bin, and calculate the pre-spreading length and the number of pens to be spread based on the information and the spreading speed.

[0013] In some embodiments, the following steps are also included at the start of material application: The following steps are also included at the beginning of the material spreading process: Obtain the opening information of the discharge door on the side of the feed box to be opened, control the discharge door to open to the preset opening degree, control the auger motor to drive the auger to stir the remaining material, and carry out the feeding channel side spreading operation; After the feeding operation on one side is completed, the vehicle is controlled to perform the finishing operation: based on the obtained information on the opening and closing of the discharge gate, the discharge gate is controlled to close to the preset position; the vehicle is driven to move to the other side of the pen, the vehicle is driven to move forward along the feeding channel and the discharge gate on the other side is controlled to open to the preset opening degree, and the auger motor is controlled to drive the auger to stir the remaining material and carry out the feeding operation on the other side. According to the work instructions, the feeding operations of multiple preset enclosures are completed sequentially along the travel path.

[0014] In some embodiments, after the material is spread, the following steps are also included: The vehicle is controlled to return to the parking point along the original driving path to recharge and stand by. The vehicle will upload the collection operation time, the weight of the remaining material collected, the length of the spreading operation, and the weight of the spreading operation to the control center for data analysis.

[0015] This invention also discloses a waste material handling control system for a multi-functional robot used in ranches, used to implement the aforementioned waste material handling control method for the multi-functional robot used in ranches. It includes an automatic driving controller and a vehicle controller located at the lower side of the vehicle and interconnected. The automatic driving controller is connected to an RTK located at the upper rear of the feed bin, a 3D laser radar and router located at the left front and right rear of the vehicle, and an obstacle avoidance laser radar and control center located at the right front and left rear of the vehicle. The vehicle controller is connected to a hydraulic power unit consisting of several proximity switches, a weighing sensor installed at the bottom of the feed bin, an electric cylinder for controlling the opening and closing of the discharge guide plate, a hydraulic cylinder for controlling the collection device, a hydraulic cylinder for the discharge gate, and a hydraulic cylinder for the scraper. It is also connected to a walking motor, a steering motor, an auger motor, a collection device motor, a disc brush motor, a roller brush motor, and a lifting auger motor. The proximity switches include a first proximity switch installed on the side guard to detect whether the side guard is closed during equipment operation; a second proximity switch installed at the front end of the collecting device assembly to detect whether the scraper collecting device is fully open during collecting operations and whether it is fully closed during non-collecting operations; a fourth proximity switch installed at the upper end of the collecting and conveying device to detect whether the discharge guide plate electric cylinder is fully open and the driven roller running status; a sixth proximity switch installed near the discharge gate to detect whether the discharge gate is fully open during unloading and spreading; a seventh proximity switch installed on the support frame to detect whether the collecting device assembly is in a low position during collecting operations and whether it is in a high position during non-collecting operations.

[0016] Beneficial effects:

[0017] This invention discloses a control system and method for handling leftover materials in a multi-functional robot used in ranches. Compared with the prior art, this invention has the following advantages: A control system and method for handling leftover feed in a multi-functional robot used in ranches is disclosed. This system comprises an autonomous driving controller and a vehicle controller located at the lower side of the vehicle and interconnected. The autonomous driving controller is connected to a control center and also to an RTK (Remotely Recognized Kinematic) unit located at the upper rear of the feed bin, 3D laser radars and routers located at the left front and right rear of the vehicle, and obstacle avoidance laser radars located at the right front and left rear of the vehicle. The vehicle controller is connected to a hydraulic power unit consisting of several proximity switches, a weighing sensor at the bottom of the feed bin, an electric cylinder controlling the opening and closing of the discharge guide plate, a hydraulic cylinder controlling the collection device, a hydraulic cylinder for the discharge gate, and a hydraulic cylinder for the scraper. It is also connected to a walking motor, a steering motor, an auger motor, a collection device motor, a disc brush motor, a roller brush motor, and a lifting auger motor. Based on the work instructions transmitted from the control center, the system can automatically control the robot vehicle to collect and mix leftover feed from the feeding channel in a pre-set pen, and then distribute the feed to the pre-set pen. This intelligent operation not only saves time and labor, but also increases work efficiency and accuracy, frees up labor, and protects the health of workers. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below, constituting a part of the present invention. The illustrative embodiments of the present invention and their descriptions explain the present invention and do not constitute an improper limitation of the present invention; in the accompanying drawings: Figure 1 The present invention provides a method for controlling the handling of leftover materials by a multi-functional robot for ranching. Figure 2 for Figure 1 A flowchart; Figure 3 This is a schematic block diagram of an unmanned navigation and control system. Figure 4 A schematic diagram of the technical solution structure for the control system of a multi-functional robot used in a ranch; Figure 5 for Figure 4 Rear view; Figure 6 for Figure 4 Top view; Figure 7 A schematic diagram of the technical solution structure for the collection device assembly; Figure 8 A perspective view of the collection device assembly; Figure 9 This is a 3D view of the chassis assembly.

[0019] In the picture: Chassis assembly 1; Walking motor 11; Walking wheels 12; Steering motor 13; Feed bin assembly 2; Box body 21; Feed processing device 22; Auger 221; Auger motor 222; Cutting blade 223; Discharge gate cylinder 23; Discharge gate 24; Weighing sensor 25; Hydraulic power unit 3; Support frame 4; Side guard 5; Collection device assembly 6; Scraper collection device 61; Disc brush motor 612; Disc brush 613; Scraper cylinder 614; Collection and conveying device 62; Conveyor belt 622; Discharge guide plate 624; Discharge guide plate electric cylinder 625; Driven roller 626; Driven roller 627; Feeding roller 623; Collection device motor 621; Roller brush cleaning and collecting Collection device 63; Roller brush motor 631; Roller brush 632; Lateral conveying auger 633; ​​Lifting conveying auger 634; Lifting conveying auger motor 635; Collection device cylinder 64; Control center 7; Unmanned driving navigation control system 8; Autonomous driving controller 81; Vehicle controller 82; RTK 83; 3D LiDAR 84; Obstacle avoidance LiDAR 85; Router 86; Proximity switch 87; First proximity switch 87-1; Second proximity switch 87-2; Third proximity switch 87-3; Fourth proximity switch 87-4; Fifth proximity switch 87-5; Sixth proximity switch 87-6; Seventh proximity switch 87-7; Eighth proximity switch 87-8; Parking point / charging point A; First enclosure B; Second enclosure C; Residual material D. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. In the description of this invention, it should be noted that the term "comprising" as used in the specification and claims is an open-ended term and should therefore be interpreted as "comprising but not limited to"; "a number" refers to more than two.

[0021] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0023] like Figures 1-9 As shown, the technical solution disclosed in this invention is as follows: A method for controlling the handling of leftover materials by a multi-functional robot used in a ranch includes the following steps: Process of collecting leftover materials: The unmanned navigation control system 8 obtains the operation instructions issued by the control center 7. The operation instructions include the pen code for pre-processing leftover material and the driving route; obtains navigation information, drives the vehicle from the parking point to the preset position of the feeding channel of the designated pen, lowers the collection device assembly 6 and opens the scraper collection device 61, drives the vehicle forward and collects and transports the leftover material to the material box 21 provided in the material box assembly 2. Leftover material mixing process: According to the stirring command, the feed processing device 22 installed at the bottom of the feed hopper 21 is driven to stir the remaining material for a preset time; Spreading process: The automatic driving controller 81 obtains navigation information, the vehicle controller 82 drives the vehicle to enter the preset position of the feeding channel of the designated feeding pen, controls the opening of the discharge door 24 on the side of the feed box 21, and starts the auger 221 to stir and spread the feed along one side of the feeding channel.

[0024] The first preferred embodiment of the present invention, as follows: Figures 1-9 As shown: A method for controlling the handling of leftover materials by a multi-functional robot used in a ranch includes the following steps: Planning of driving routes within the ranch: The 3D LiDAR 84 scans the pasture and obtains a map of the pasture enclosures. Based on the actual operational needs, several driving paths are planned within the pasture enclosure map, enabling the robot vehicle to perform different tasks according to the preset driving paths.

[0025] The autonomous driving navigation control system 8 is equipped with an autonomous driving controller 81 that obtains the operation instructions issued by the control center 7. The operation instructions include the pen code for pre-processing leftover materials and the driving path. In this embodiment, the robot vehicle is selected to go to the first pen B to collect leftover materials D and to the second pen C to spread materials. The driving path is E.

[0026] Initialization status check: The vehicle controller 82 acquires information from the third proximity switch 87-3 installed at the front end of the collection device assembly 6 to detect whether the scraper collection device 61 is closed; acquires information from the eighth proximity switch 87-8 installed on the support frame 4 to detect whether the collection device assembly 6 is in a high position; acquires information from the first proximity switch 87-1 installed on the side cover 5 to detect whether the side cover 5 is in a closed state; if the requirements are met, the vehicle proceeds to collect the remaining material; if the requirements are not met, the vehicle prioritizes executing the initialization recovery command; if the initialization recovery fails, the vehicle controller 82 sends a warning message to the control center 7 to notify manual intervention to complete, until the states of the above components all meet the preset requirements.

[0027] Process of collecting leftover materials: The vehicle's automatic driving controller 81 notifies the vehicle controller 82, which in turn controls the walking motor 11 and steering motor 13 to drive the walking wheels 12 to move, propelling the vehicle from parking point A along the driving path E to the first pen A, and parking it at the preset starting position in the feeding channel. The vehicle controller 82 controls the hydraulic power unit 3 to drive the collection device assembly 6 to move downwards and detects that the collection device assembly 6 is in a low-position working position based on the information obtained from the seventh proximity switch 87-7 installed on the support frame 4. The vehicle controller 82 controls the scraper cylinder 614 to drive the scraper collection device 61 to open and detects that the scraper collection device 61 is opened to a preset angle P (35° in this embodiment). The vehicle controller 82 controls the walking motor 11 to drive the walking wheels 12 to move forward along the feeding channel to collect the material. The scraper on the scraper collection device 61 gathers the remaining material D. The vehicle controller 82 controls the disc brush motor 612. The drive disc brush 613 collects residual material, and the control collection device motor 621 drives the feeding roller 623 and the active roller 626 to rotate the driven roller 627 and conveyor belt 622 of the collection and conveying device 62. The feeding roller 623 rotates in the opposite direction to the active roller 62, and the feeding roller 623 continuously feeds the collected residual material onto the inclined conveyor belt 622, which transports the residual material from the lower end to the upper end. At the same time, the vehicle controller 82 drives the roller brush motor 631 of the roller brush cleaning and collection device 63, controls the roller brush 632 located behind the disc brush 613 to collect and throw out the residual material, and controls the transverse conveying auger 633 to throw out the material. The remaining material is conveyed to the lifting conveyor auger 634. The vehicle controller 82 drives the lifting conveyor auger motor 635 to control the lifting conveyor auger 634 to convey the remaining material to the conveyor belt 622. The remaining material runs along the conveyor belt 622 to the top and is then thrown into the material box 21. At the same time, during operation, the vehicle controller 82 controls the discharge guide plate electric cylinder 625 to open the discharge guide plate 624. Based on the information obtained from the fourth proximity switch 87-4 installed above the conveyor belt 622, the opening of the discharge guide plate 624 is detected to the preset opening degree. This opening degree matches the density of the remaining material, so that after the remaining material is thrown along the conveyor belt 622, it is guided by the discharge guide plate 624 and falls into the material box 21.

[0028] During the collection operation, the vehicle controller 82 obtains information from the fifth proximity switch 87-5 installed on the upper end of the collection and conveying device 62 in real time to determine the working status of the driven roller 627. When the obtained information is a continuously changing state, it is determined that the driven roller 627 is operating normally. When the obtained information is a state that remains unchanged for a long time, it is determined that the driven roller 627 stops operating. At this time, the vehicle controller 82 sends a warning message to the control center 7 for manual intervention.

[0029] After the collection operation on one side is completed, control the vehicle to perform the sorting operation: The vehicle controller 82 controls the hydraulic power unit 3 to drive the collection device cylinder 64 to raise the collection device assembly 6 and, based on the information obtained from the eighth proximity switch 87-8 installed on the support frame 4, to detect that the collection device assembly 6 is at a preset height; the vehicle controller 82 controls the scraper cylinder 614 to drive the scraper collection device 61 to close and, based on the information obtained from the third proximity switch 87-3 installed at the front end of the collection device assembly 6, to detect that the scraper collection device 61 is closed to a preset angle; the vehicle controller 82 controls the walking motor 11 and the steering motor 13 to drive the walking wheels 12 to drive the vehicle to move, and can complete the forward, backward, front wheel steering, rear wheel steering, four-wheel steering, and crab-like steering actions of the robot vehicle. The vehicle drives out of the first pen B, then turns around and enters the other side of the feeding channel of the first pen B, repeating the aforementioned operation process.

[0030] The unmanned navigation and control system 8 includes an autonomous driving controller 81 and a vehicle controller 82 located at the lower side of the vehicle, a positioning device RTK 83 located at the upper rear of the material bin 21, a 3D LiDAR 84 and a router 86 located at the left front and right rear of the vehicle, an obstacle avoidance LiDAR 85 located at the right front and left rear of the vehicle, and several proximity switches 87.

[0031] The autonomous driving controller 81 communicates with the vehicle controller 82. During the execution of the task, the vehicle controller 82 receives signals from the autonomous driving controller 81 and controls the vehicle's forward, backward, turning, obstacle avoidance, automatic parking and other actions. According to the program settings of different points on the planned path, after reaching the path point, the autonomous driving controller 81 sends instructions to the vehicle controller 82, and the vehicle controller 82 sends instructions to control the start and stop of each motor, the extension and retraction of the hydraulic cylinder and electric cylinder, etc.

[0032] It should be noted that, according to the work instructions, the collection of multiple pre-set enclosures can be completed sequentially along the driving path.

[0033] Leftover material mixing process: The feed bin assembly 2 includes a box body 21 with an opening at the top, a feed processing device 22 installed at the bottom of the box body 21, two discharge doors 24 installed on the left and right side walls of the box body 21, and several weighing sensors 25 installed at the bottom of the box body 21. The feed bin assembly 2 is fixedly installed on the chassis assembly 1 through the weighing sensors 25, and the weighing sensors 25 are connected to the vehicle controller 82.

[0034] The vehicle controller 82 controls the auger motor 222 to drive the auger 221 installed on the feed processing device 22 at the bottom of the feed bin 21 to stir the remaining material according to the stirring command, and controls the remaining material to be stirred for a preset time.

[0035] It should be noted that when new feed needs to be added to the remaining feed and mixed together, a cutting blade 223 can be installed on the auger 221 to cut the new feed as needed. If no new feed is added, the cutting blade 223 does not need to be installed.

[0036] The vehicle controller 82 acquires information from the weighing sensor 25 installed at the bottom of the material bin 21 in real time, and calculates the spreading length and the number of pen pens to be spread based on the weight of the collected residual material and the vehicle's speed.

[0037] Spreading process: The autonomous driving controller 81 acquires navigation information transmitted by RTK 83, 3D LiDAR 84, and obstacle avoidance LiDAR 85, and transmits it to the vehicle controller 82. The vehicle controller 82 controls the vehicle to enter the designated feeding pen along the driving path E. In this embodiment, the second pen C is selected and parked at the preset starting position of the feeding channel. The vehicle controller 82 controls the hydraulic power unit 3 to drive the discharge gate cylinder 23 to open or close the discharge gate 24. The discharge gate cylinder 23 is located near the discharge gate 24 on the side of the feed box 21, and acquires information from the sixth proximity switch 87-6 installed near the discharge gate 24, so that the discharge gate 24 is opened to the correct position. There are discharge gates 24 on both sides of the feed box 21. Only the discharge gate 24 on the feeding side is activated, and the auger 221 is activated to stir the remaining feed along one side of the feeding channel to realize the feeding operation.

[0038] After the material spreading operation on one side is completed, the vehicle controller 82 controls the auger motor 222 to stop operating and controls the vehicle to complete the finishing operation. The vehicle controller 82 controls the hydraulic power unit 3 to drive the discharge gate cylinder 23 to close the discharge gate 24, and obtains information from the sixth proximity switch 87-6 installed near the discharge gate 24 to close the discharge gate 24 to a preset position; drives the vehicle to move to the other side of the pen, controls the discharge gate 24 on the other side to open to a preset opening, controls the auger motor 222 to drive the auger 221 to stir the remaining material, and controls the vehicle to perform the feeding operation on the other side along the feeding channel in a reverse manner; According to the work instructions, the feeding operations of multiple preset enclosures are completed sequentially along the travel path.

[0039] After the feeding operation is completed, the vehicle controller 82 controls the vehicle to return to the parking / charging point A for charging and standby according to the preset driving path. The automatic driving controller 81 uploads the collected operation time, residual material collection weight, feeding operation length, and feeding operation weight to the control center 7 for analysis. According to the returned data, if the residual material collection exceeds the predetermined standard, the control center 7 will issue an early warning prompt so that the ranch management center can adjust the feeding amount in a timely manner based on the early warning information to ensure that the feeding amount is kept within a reasonable range.

[0040] The second preferred embodiment of the present invention, such as Figures 4-9 As shown: A waste disposal control system for a multi-functional robot used in ranches is provided for implementing a waste disposal control method for the multi-functional robot used in ranches. The system includes an automatic driving controller 81 and a vehicle controller 82 located at the lower side of the vehicle and connected to each other. The automatic driving controller 81 is connected to an RTK 83 located at the upper rear of the feed bin 21, a 3D LiDAR 84 and router 86 located at the left front and right rear of the vehicle, an obstacle avoidance LiDAR 85 located at the right front and left rear of the vehicle, and a control center 7. The automatic driving controller 81 and the vehicle controller 82 communicate with each other. During task execution, the vehicle controller 82 receives signals from the automatic driving controller 81 and controls the vehicle's walking motor 11 and steering motor 13 to drive the walking wheels 12, enabling the vehicle to move forward, backward, turn, avoid obstacles, and automatically park.

[0041] The vehicle controller 82 is connected to several proximity switches 87, multiple weighing sensors 25 installed at the bottom of the material box 21, a discharge guide plate electric cylinder 625 installed on the vehicle to control the opening and closing of the discharge guide plate 624, and a hydraulic power unit 3 installed on the chassis assembly 1 to control the collection device cylinder 64, the discharge gate cylinder 23 and the scraper cylinder 614. It is also connected to the walking motor 11 and the steering motor 13 installed on the chassis assembly 1, the auger motor 222 installed at the bottom of the material box 21, the collection device motor 621 installed on the motor mounting plate, the disc brush motor 612 installed on the top of the disc brush 613, and the roller brush motor 631 installed at the end of the roller brush 632.

[0042] The proximity switches 87 include a first proximity switch 87-1 installed on the side cover 5 to detect whether the side cover 5 is closed during equipment operation; a second proximity switch 87-2 installed at the front end of the collecting device assembly 6 to detect whether the scraper collecting device 61 is fully open during collecting operations and whether it is fully closed during non-collecting operations; a fourth proximity switch 87-4 installed at the upper end of the collecting and conveying device 62 to detect whether the discharge guide plate electric cylinder 625 is fully open and the running status of the driven roller 627; a sixth proximity switch 87-6 installed near the discharge gate 24 to detect whether the discharge gate 24 is fully open during unloading and spreading; and a seventh proximity switch 87-7 installed on the support frame 4 to detect whether the collecting device assembly 6 is in a low position during collecting operations and whether it is in a high position during non-collecting operations.

[0043] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A method for controlling the handling of leftover materials using a multi-functional robot for ranching, characterized in that, The process includes the following steps: collecting leftover materials: Obtain the work instructions issued by the control center, which include the pen code for pre-processing leftover materials and the travel route; Obtain navigation information, drive the vehicle from the parking point to the preset position of the feeding channel in the designated pen, lower the collection device assembly, open the scraper collection device, drive the vehicle forward and collect and transport the leftover feed to the feed bin provided in the feed bin assembly; Leftover material mixing process: According to the stirring command, the feed processing device installed at the bottom of the hopper is driven to stir the remaining material for a preset time; Spreading process: Obtain navigation information, drive the vehicle into the preset position of the feeding channel in the designated feeding pen, control the opening of the discharge door on the side of the feed box, and start the auger to stir and spread the feed along one side of the feeding channel.

2. The method for controlling the handling of leftover materials by a multi-functional robot for ranching according to claim 1, characterized in that: The following steps are included before the process of collecting leftover materials: Initialization status check: The proximity switch position information is obtained to confirm whether the lifting of the collection device assembly, the closing of the scraper bracket of the scraper collection device, and the closing of the side guard meet the preset correct positions. If the requirements are met, the vehicle goes to collect the remaining material. If the requirements are not met, the vehicle will first execute the initialization and recovery command. If the initialization and recovery fails, the vehicle controller will send a warning message to the control center to notify manual intervention to complete the task.

3. The method for controlling the handling of leftover materials by a multi-functional robot for ranching according to claim 2, characterized in that: The following steps are included before the initialization state check: Planning of driving routes within the ranch: The 3D LiDAR scans the pasture and obtains a map of the pasture enclosures. Based on the actual operational needs, several driving paths are planned within the pasture enclosure map, enabling the robot vehicle to perform different tasks according to the preset driving paths.

4. The method for controlling the handling of leftover materials by a multi-functional robot for ranching according to claim 1, characterized in that: The process of collecting leftover materials also includes the following steps: The vehicle's autonomous navigation and control system controls the vehicle to start from the parking point, travel along the driving path to the first designated pen, and park at the preset starting position of the feeding passage; The system controls the collection device assembly to descend based on the acquired preset low-level information, and controls the scraper collection device to open to a preset angle based on the acquired opening status information, thereby driving the vehicle to perform collection operations. After the collection operation on one side is completed, the vehicle is controlled to perform the sorting operation: based on the obtained high position information, the collection device assembly is raised to a preset height, and based on the obtained closing status information, the scraper collection device is closed to a preset angle. The vehicle is then driven out of the pen and then turns around to enter the pen to collect data on the other side of the feeding channel. The aforementioned operation process is repeated. According to the work instructions, the collection operations of multiple preset enclosures are completed sequentially along the travel path.

5. The method for controlling the handling of leftover materials by a multi-functional robot for ranching according to claim 4, characterized in that: The process of collecting leftover materials also includes the following steps: The system controls the vehicle to move forward along the feeding channel to collect leftover material, controls the disc brush to collect leftover material, and controls the feeding roller to continuously feed the leftover material on the feeding channel to the inclined conveyor belt. The conveyor belt, under the rotation of the drive roller and the driven roller, transports the leftover material to the top of the material box. At the same time, the system controls the roller brush located behind the disc brush to collect and throw out the broken material, the transverse conveying auger to transport the thrown leftover material to the lifting conveying auger, the lifting conveying auger to transport the leftover material to the conveyor belt, and after running along the conveyor belt to the top, it is thrown into the material box.

6. The method for controlling the handling of leftover materials by a multi-functional robot for ranching according to claim 5, characterized in that: The process of collecting leftover materials also includes the following steps: Based on the obtained opening information of the discharge guide plate installed above the conveyor belt, the discharge guide plate is controlled to open to a preset angle; Based on the acquired state information of the driven roller, the working state of the driven roller is determined. If the acquired information is a continuously changing state, the driven roller is determined to be operating normally. If the acquired information is a state that remains unchanged for a long time, the driven roller is determined to stop operating.

7. The method for controlling the handling of leftover materials by a multi-functional robot for ranching according to claim 1, characterized in that: The process of mixing the remaining materials also includes the following steps: Obtain information from the weighing sensor installed at the bottom of the material bin, and calculate the pre-spreading length and the number of pens to be spread based on the information and the spreading speed.

8. The method for controlling the handling of leftover materials by a multi-functional robot for ranching according to claim 1, characterized in that: The following steps are also included at the beginning of the material spreading process: Obtain the opening information of the discharge door on the side of the feed box to be opened, control the discharge door to open to the preset opening degree, control the auger motor to drive the auger to stir the remaining material, and carry out the feeding channel side spreading operation; After the feeding operation on one side is completed, the vehicle is controlled to perform the finishing operation: based on the obtained information on the opening and closing of the discharge gate, the discharge gate is controlled to close to the preset position; the vehicle is driven to move to the other side of the pen, the vehicle is driven to move forward along the feeding channel and the discharge gate on the other side is controlled to open to the preset opening degree, and the auger motor is controlled to drive the auger to stir the remaining material and carry out the feeding operation on the other side. According to the work instructions, the feeding operations of multiple preset enclosures are completed sequentially along the travel path.

9. The method for controlling the handling of leftover materials by a multi-functional robot for ranching according to claim 1, characterized in that: After the material is spread, the following steps are also included: The vehicle is controlled to return to the parking point along the original driving path to recharge and stand by. The vehicle will upload the collection operation time, the weight of the remaining material collected, the length of the spreading operation, and the weight of the spreading operation to the control center for data analysis.

10. A control system for handling leftover materials in a multi-functional robot used in ranches, characterized in that: The method for controlling the handling of leftover materials in a multi-functional robot for ranching as described in any one of claims 1-9 includes an automatic driving controller and a vehicle controller located at the lower side of the vehicle and communicating with each other. The automatic driving controller is connected to an RTK located at the upper rear end of the feed bin, a 3D laser radar and router located at the left front end and right rear end of the vehicle, and an obstacle avoidance laser radar and control center located at the right front end and left rear end of the vehicle. The vehicle controller is connected to a hydraulic power unit consisting of several proximity switches, a weighing sensor installed at the bottom of the feed bin, an electric cylinder for controlling the opening and closing of the discharge guide plate, a hydraulic cylinder for controlling the collection device, a hydraulic cylinder for the discharge door, and a hydraulic cylinder for the scraper. It is also communicating with a walking motor, a steering motor, an auger motor, a collection device motor, a disc brush motor, a roller brush motor, and a lifting auger motor. Several of the proximity switches include a first proximity switch installed at the side shield for detecting whether the side shield is in a closed state during equipment operation; A second proximity switch and a third proximity switch are installed at the front end of the collection device assembly to detect whether the scraper collection device is fully open during collection operations and whether it is fully closed during non-collection operations. A fourth proximity switch and a fifth proximity switch are installed at the top of the collection and conveying device to detect whether the discharge guide plate electric cylinder is in the correct position and the running status of the driven roller, respectively. A sixth proximity switch installed near the discharge gate to detect whether the discharge gate is fully opened during the unloading and spreading process; The seventh proximity switch, mounted on the support frame, is used to detect whether the collection device assembly is in a low position during collection operations and whether it is in a high position during non-collection operations.

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