A control method and system of a pig house manure pit cleaning robot

Abstract

The present application relates to a kind of pig house manure pit cleaning robot control method and system, it is related to the field of robot control, it includes: collecting scraper travel resistance, probe insertion resistance and manure surface hardness;Combining scraper travel resistance, probe insertion resistance and manure surface hardness to determine current manure type;When determining that current manure type is dense and cemented type fecal dirt, control robot to lift scraper, to the inside of dense and cemented type fecal dirt introduce medium that can produce volume expansion effect;Collecting structure change state;According to structure change state to extract bulge amplitude, crack distribution density and local shedding area;When dense and cemented type fecal dirt meets disintegration condition, control robot to lower scraper to execute scraper operation, and start suction to execute suction operation.The present application has the effect of improving cleaning operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of robot control, and in particular to a control method and system for a pigsty manure pit cleaning robot. Background Technology

[0002] A pigsty manure cleaning robot is an automated device used to replace manual labor in entering the manure pit passage under the slatted floor of a pigsty and autonomously perform manure cleaning operations.

[0003] Currently, existing pigsty manure cleaning robots typically use high-pressure water washing combined with scraping to remove manure during cleaning operations. This method can meet basic cleaning needs for loose manure.

[0004] However, when encountering dense, compacted fecal matter formed by long-term accumulation and compaction, high-pressure water has difficulty penetrating the interior of the fecal matter, and the scraper slips on the surface of the dense fecal matter, failing to effectively peel it off, resulting in incomplete cleaning and reduced cleaning efficiency, which needs to be improved. Summary of the Invention

[0005] To improve the efficiency of cleaning operations, this invention provides a control method and system for a pigsty manure pit cleaning robot.

[0006] In a first aspect, the present invention provides a control method for a pigsty manure pit cleaning robot, which adopts the following technical solution: A control method for a pigsty manure pit cleaning robot includes: The scraping resistance, probe insertion resistance, and surface hardness of the feces were collected during the scraping and suction operations performed by the robot as it moved along the cesspool channel. The type of feces is determined by combining the scraper's travel resistance, the probe's insertion resistance, and the surface hardness of the feces. When the current fecal waste type is determined to be dense and compacted fecal sludge, a dense and compacted fecal sludge treatment method is generated. In response to the treatment method for dense and compacted fecal matter, the robot is controlled to lift the scraper and introduce a medium that can produce a volume expansion effect into the interior of the dense and compacted fecal matter. The structural changes of dense, compacted fecal matter after the introduction of a medium were collected. Based on the structural change state, the amplitude of the bulge, the density of the crack distribution, and the area of ​​local detachment are extracted; The density of cracks and the area of ​​local detachment are combined to determine whether the dense and compacted fecal matter meets the preset disintegration conditions. When the dense, compacted fecal matter meets the disintegration conditions, the robot is controlled to lower the scraper to perform a scraping operation and activate the suction port to perform a suction operation.

[0007] By adopting the above technical solution, the type of fecal matter is determined by comprehensively collecting data on the scraper's travel resistance, probe insertion resistance, and the surface hardness of the fecal matter. When it is determined to be dense and compacted fecal matter, the scraper is raised and a medium that can produce a volume expansion effect is introduced into the fecal matter, causing expansion stress inside the fecal matter to break down and fracture. Then the scraper is lowered to perform scraping and suction operations, thereby reducing the difficulty of removing dense and compacted fecal matter, reducing scraper slippage and ineffective work, and improving the efficiency of cleaning operations.

[0008] Optionally, the dense agglomeration treatment method includes: Collect the thickness and surface hardness values ​​of dense, compacted fecal scale. The single-point spraying amount, single-point penetration retention time, and spraying point spacing are determined based on the thickness and surface hardness of the fecal residue. The robot is controlled to raise the scraper to a preset safe height, and the activation liquid is sprayed point by point onto the surface of dense and compacted fecal matter according to the single-point spraying volume, single-point penetration residence time and spraying point spacing, and the moisture content of the fecal matter is collected. In response to the completion of spraying at all spraying points, the retreat distance and fermentation time are determined based on the thickness and moisture content of the manure. Control the robot to retreat from the current area to the retreat distance, wait for the fermentation time, allow the activation liquid to penetrate into the fecal matter, activate endogenous gas-producing bacteria to produce microbubbles, and loosen the fecal matter structure through the aggregation and expansion of microbubbles. In response to reaching the fermentation time, the robot returns to the current area and lowers the scraper to remove the loosened fecal matter.

[0009] By adopting the above technical solution, the spraying amount, penetration time and spraying interval are determined according to the thickness and hardness of the fecal matter. After spraying the activation liquid, the sprayer retreats and waits for the fermentation time. The microbubbles generated by endogenous gas-producing bacteria loosen the fecal matter structure. Then, the sprayer returns to scrape it off, which improves the utilization efficiency of the activation liquid and the loosening effect of the fecal matter.

[0010] Optionally, the dense agglomeration treatment method further includes: Real-time temperature of the manure surface and real-time gas concentration were collected during the fermentation waiting period; The real-time fermentation rate is calculated based on the real-time surface temperature of the fecal matter, the real-time concentration of gas produced, and the moisture content of the fecal matter. The expected fermentation rate is determined based on the thickness of the fecal matter. Compare the real-time fermentation rate with the expected fermentation rate; When the real-time fermentation rate is lower than the expected fermentation rate, the fermentation time extension is calculated based on the difference between the real-time fermentation rate and the expected fermentation rate. Add the extended fermentation time to the total fermentation time and update the fermentation completion time. When the updated fermentation completion time is reached, control the robot to return to the current area.

[0011] By adopting the above technical solution, the real-time fermentation rate is calculated based on the real-time temperature of the fecal surface, gas concentration, and moisture content. When the rate is lower than expected, the fermentation time is extended to ensure that the fecal matter is fully loosened before being scraped off, thereby improving the reliability of the fermentation process.

[0012] Optionally, a dynamic compensation method for activator loss may also be included: The rate of moisture decay on the surface of fecal matter at each spraying point was collected after the activation solution was sprayed point by point. The loss status of activation liquid at each spraying point is determined based on the comparison between the surface humidity decay rate of fecal matter and the preset decay rate threshold. When the rate of moisture decay on the surface of fecal matter at a local spraying point exceeds the decay rate threshold, it is determined that the spraying point is in a state of rapid loss of activating liquid. In response to the rapid loss of the activating liquid, the height of the loss compensation dike is calculated based on the rate of moisture decay on the surface of the fecal matter at the spray point and the thickness of the fecal matter. The robot is controlled to press the scraper down to the height of the loss compensation dike, and a temporary dike is constructed around the spraying point. Once the temporary cofferdam is constructed, the spraying point is sprayed with activating liquid until the surface humidity of the fecal matter reaches the preset infiltration humidity threshold.

[0013] By adopting the above technical solution, the humidity decay rate of each spraying point is monitored. When the local area loses too much moisture, a temporary dike is constructed using a scraper to prevent the activator from losing moisture and to replenish the spray, thereby improving the residence time and penetration uniformity of the activator in the target area.

[0014] Optionally, it also includes a layered structure treatment method when the current fecal waste type is determined to be a hard-on-top, soft-on-bottom layered structure: Collect the thickness value of the upper hard shell and the distribution density of cracks on the hard shell surface; The single-point application rate and coverage area of ​​the water-absorbing and expanding particles are determined based on the hard shell thickness value and the distribution density of cracks on the hard shell surface. The robot is controlled to spread water-absorbing and expanding particles onto the surface of the hard shell according to the single-point spreading amount and the spreading coverage area, and to collect the height change signal of the hard shell surface and the overflow signal of the diluted fecal water below the hard shell after spreading the water-absorbing and expanding particles. Determine whether the hard shell has collapsed as a whole based on height change signals and overflow signals; When the hard shell collapses as a whole, scraping and vacuuming operations are performed.

[0015] By adopting the above technical solution, water-absorbing and expanding granules are spread according to the thickness of the hard shell and the distribution of cracks. After the granules absorb water and expand, they crack the hard shell and cause it to collapse as a whole. Then, scraping and vacuuming are performed, which improves the removal effect and work efficiency of layered fecal waste that is hard on top and soft on the bottom.

[0016] Optionally, a dynamic compensation method for particle roll-off can also be included: Collect slope information of the hard shell surface; The risk level of particle roll-off in each paving area is determined based on the comparison between slope information and preset slope threshold. When the risk level of particle roll-off in a local area exceeds the preset baseline risk level, the compensation spreading amount is calculated based on the slope information and the distribution density of cracks on the hard shell surface of that area. The robot is controlled to supplement the area with the compensation spreading amount, and the secondary height change signal of the hard shell surface is collected after the supplementary spreading. Calculate the rate of altitude descent based on the secondary altitude change signal and the altitude change signal; When the rate of descent exceeds the preset descent rate threshold, it is determined that the hard shell is undergoing accelerated collapse, and the current spreading state is maintained; When the rate of descent does not exceed the preset descent rate threshold, the hard shell collapse is determined to be stagnant. The additional spreading amount is calculated based on the difference between the rate of descent and the descent rate threshold, and the robot is controlled to perform the additional spreading.

[0017] By adopting the above technical solution, the risk of particle roll-off is judged based on slope information, and compensation is spread in high-risk areas while monitoring the collapse rate. If the rate is insufficient, additional spreading is added until the hard shell collapses, which improves the effectiveness of particle spreading on the slope area and the success rate of hard shell breaking.

[0018] Optionally, particle separation and recovery methods are also included: Collect negative pressure fluctuation signals in the pipeline during the suction of slurry mixture from the suction port; The comparison between the pipeline negative pressure fluctuation signal and the preset fluctuation threshold determines whether the water-absorbing and expanding particles trapped at the front end of the suction port have reached the preset accumulation amount. When the negative pressure fluctuation signal in the pipeline exceeds the fluctuation threshold, it is determined that the accumulation of water-absorbing and expanding particles has reached the accumulation limit, and the sludge suction operation is suspended. Control the robot to continue moving forward in the current direction of travel, so that the rear collection shovel passes through the particle accumulation area and collects the water-absorbing and expanding particles trapped on the bottom surface of the pit to the preset collection position. Collect the collection resistance signal from the collecting shovel; When the collected resistance signal is lower than the preset resistance threshold, it is determined that the particles have been collected and the suction operation is resumed.

[0019] By adopting the above technical solution, the negative pressure fluctuation of the suction pipe is monitored to determine the accumulation of particles at the filter screen. When the threshold is exceeded, the suction is suspended and the collection shovel is controlled to move in the opposite direction to recover the particles at the bottom of the pit. This realizes the recycling of water-absorbing and expanding particles and reduces material consumption costs.

[0020] Optionally, methods for addressing the accumulation of corrosive gases during the treatment of dense, compacted fecal matter are also included: The concentrations of ammonia and hydrogen sulfide in the manure pit channel were collected while the robot was retreating and waiting for fermentation. The comprehensive toxic gas risk index is calculated based on ammonia and hydrogen sulfide concentrations. When the overall toxic gas risk index exceeds the preset safety threshold, the control robot activates its built-in ventilation device to introduce outside air into the cesspool channel to dilute the toxic gas concentration until the overall toxic gas risk index falls back below the safety threshold.

[0021] By adopting the above technical solution, the concentrations of ammonia and hydrogen sulfide are monitored in real time during the fermentation process, the comprehensive toxic gas risk index is calculated, and the ventilation device is activated to dilute the toxic gas when the threshold is exceeded, thereby reducing the safety risk of toxic gas accumulation during the fermentation process.

[0022] Optionally, a scraper self-cleaning method is also included: The thickness of accumulated fecal matter on the surface of the scraper was measured. Whether to perform a self-cleaning operation is determined based on the comparison between the accumulated thickness of fecal matter and the preset cleaning trigger threshold. When the accumulated thickness of fecal matter exceeds the cleaning trigger threshold, the robot is controlled to move to the preset rinsing position and spray water onto the scraper surface to dissolve the pre-coated water-soluble sacrificial coating, and the attached fecal matter falls off along with the coating.

[0023] By adopting the above technical solution, the thickness of accumulated fecal matter on the scraper surface is monitored. When the thickness exceeds the threshold, the scraper is driven to the washing position and water is sprayed to dissolve the water-soluble sacrificial coating. The attached fecal matter falls off along with the coating, which improves the convenience and cleaning effect of the scraper surface self-cleaning.

[0024] Secondly, this application provides a control system for a pigsty manure pit cleaning robot, which adopts the following technical solution: A control system for a pigsty manure pit cleaning robot includes: The data acquisition module is used to collect data on the scraper's travel resistance, probe insertion resistance, surface hardness of manure, and structural changes. A memory for storing a program that implements a control method for a pigsty manure pit cleaning robot; The processor is used to load and execute programs stored in memory.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. By collecting data on the scraper's travel resistance, probe insertion resistance, and the surface hardness of the fecal sludge, the type of fecal sludge is determined. When it is determined to be dense and compacted fecal sludge, the scraper is raised and a medium that can produce a volume expansion effect is introduced into the fecal sludge, causing the fecal sludge to break down due to expansion stress. Then the scraper is lowered to perform scraping and suction operations, thereby reducing the difficulty of removing dense and compacted fecal sludge, reducing scraper slippage and ineffective work, and improving the efficiency of cleaning operations. 2. Determine the spraying amount, penetration time and spraying interval according to the thickness and hardness of the fecal matter. After spraying the activation liquid, retreat and wait for the fermentation time. Use endogenous gas-producing bacteria to generate microbubbles to loosen the fecal matter structure. Then return and scrape it off, which improves the utilization efficiency of the activation liquid and the loosening effect of the fecal matter. 3. Based on the thickness of the hard shell and the distribution of cracks, water-absorbing and expanding granules are spread. After the granules absorb water and expand, they crack the hard shell and cause it to collapse as a whole. Then, scraping and vacuuming are performed, which improves the removal effect and work efficiency of layered fecal waste that is hard on top and soft on the bottom. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating a control method for a pigsty manure pit cleaning robot. Figure 2 This is a schematic diagram of a scenario for a dense, compacted treatment method; Figure 3 This is a flowchart of a method for treating dense compaction. Figure 4 This is a flowchart of the hierarchical structure processing method. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] Reference Figure 1 and Figure 2 This application discloses a control method for a pigsty manure pit cleaning robot, including the following steps: S10: Collects data on the scraping resistance, probe insertion resistance, and surface hardness of the feces during the scraping and suction operations performed by the robot as it travels along the latrine channel.

[0029] The scraper's travel resistance refers to the resistance value along the travel direction that the robot scraper experiences when pushing feces and sludge along the bottom of the latrine channel. It is collected in real time by a force sensor located at the connection between the scraper and the robotic arm.

[0030] The probe insertion resistance refers to the axial resistance value encountered by the probe set at the front of the robot when it is inserted vertically into the fecal surface at a preset insertion speed. The preset insertion speed is set in advance by those skilled in the art, and the probe insertion resistance is collected by a force sensor set on the probe drive mechanism.

[0031] The surface hardness of feces refers to the ability of the feces surface to resist external indentation loads. It is characterized by the reaction force recorded when a probe is pressed into the feces surface with a preset indentation force, which is set in advance by those skilled in the art.

[0032] S11: Combine the scraper's travel resistance, probe insertion resistance, and fecal surface hardness to determine the current type of fecal matter.

[0033] The current fecal waste type refers to the category classified according to the physical and mechanical properties of fecal waste, including dense and compacted fecal waste and layered structures that are hard on top and soft on the bottom.

[0034] Dense, compacted fecal sludge refers to a dense, sticky, and non-layered layer of fecal sludge formed after long-term accumulation, compaction, and natural drying.

[0035] The "hard on top, soft on bottom" layered structure refers to a double-layered fecal structure where a hard, dry fecal crust forms on the surface, while the bottom layer remains a soft, watery fecal mixture.

[0036] The scraper's travel resistance is compared with a preset travel resistance threshold, the probe insertion resistance is compared with a preset insertion resistance threshold, and the fecal surface hardness is compared with a preset hardness threshold. All travel resistance, insertion resistance, and hardness thresholds are preset by those skilled in the art. When the scraper's travel resistance exceeds the travel resistance threshold, the probe insertion resistance exceeds the insertion resistance threshold, and the fecal surface hardness exceeds the hardness threshold, the current fecal type is determined to be dense, compacted fecal matter. When the scraper's travel resistance does not exceed the travel resistance threshold, the probe insertion resistance exhibits a step-down characteristic near the insertion resistance threshold, and the fecal surface hardness exhibits a high-low jump characteristic near the hardness threshold, the current fecal type is determined to be a layered structure with a hard upper layer and a soft lower layer.

[0037] S12: When the current fecal waste type is determined to be dense and compacted fecal waste, a dense and compacted treatment method is generated.

[0038] The dense, compacted fecal matter treatment method refers to a specialized treatment plan for dense, compacted fecal matter. This method is retrieved from a pre-designed fecal matter treatment system, which stores treatment methods for dense, compacted fecal matter. The fecal matter treatment system is pre-established by someone skilled in the art.

[0039] When the current fecal waste type is determined to be dense and compacted fecal sludge, a treatment method for dense and compacted fecal sludge needs to be generated for subsequent steps.

[0040] S13: In response to the dense compacted treatment method, the robot is controlled to lift the scraper and introduce a medium that can produce a volume expansion effect into the interior of the dense compacted fecal matter.

[0041] The medium that can produce a volume expansion effect refers to an activating solution containing carbon sources and nutrients. After the activating solution penetrates into the interior of dense, compacted fecal matter, it activates the naturally occurring endogenous gas-producing bacteria within the fecal matter. These endogenous gas-producing bacteria metabolize and produce microbubbles, which continuously accumulate and expand in the pores within the fecal matter, applying expansion stress to the fecal matter structure from the inside, causing the fecal matter to change from a dense state to a loose state. The introduction of the activating solution is achieved through a spraying device installed on the robot. The specific structure and operation of the spraying device will be described in detail in the subsequent section on the treatment method for dense, compacted fecal matter.

[0042] The scraper is raised from its working position, which is in contact with the bottom of the latrine, to a preset safe height, introducing a medium that produces a volume expansion effect into the dense, compacted sludge. The safe height is preset by a person skilled in the art.

[0043] S14: Collect the structural changes of dense, compacted fecal matter after the introduction of the medium.

[0044] The structural change state refers to the degree and spatial distribution of the surface morphology changes of dense, compacted fecal matter after the introduction of a medium, which is collected by a vision sensor located at the front of the robot.

[0045] S15: Extract the bulge amplitude, crack distribution density, and local detachment area based on the structural change state.

[0046] The bulge amplitude refers to the upward displacement of the fecal surface relative to its original surface height before the introduction of the medium.

[0047] The current structural change state is compared with the baseline image of the original surface morphology of fecal matter that was collected and stored before the medium was introduced. The height difference of each region is calculated, and the maximum value among all height differences is taken as the bulge amplitude.

[0048] Crack distribution density refers to the number of cracks per unit area caused by the action of the medium.

[0049] The outline of the crack is extracted from the image corresponding to the structural change state. The number of cracks in a preset unit area is counted, and the number of cracks in the unit area is calculated as the crack distribution density. The preset unit area is set in advance by those skilled in the art.

[0050] The area of ​​partial detachment refers to the total area of ​​fecal matter that has been peeled off from the surface.

[0051] Extract the contours of the detached regions from the image corresponding to the structural change state, and calculate the sum of the areas of each detached region to obtain the local detachment area.

[0052] S16: Combine the bulge amplitude, crack distribution density, and local detachment area to determine whether the dense, compacted fecal matter meets the preset disintegration conditions.

[0053] The disintegration condition refers to a set of quantitative criteria for determining that the internal structure of dense and compacted fecal matter has been fully disintegrated and that subsequent scraping and suction operations can be carried out. These criteria include the bulging amplitude threshold, the crack density threshold, and the detachment area threshold. All of these thresholds are set in advance by those skilled in the art.

[0054] The bulge amplitude is compared with a bulge amplitude threshold, the crack distribution density is compared with a crack density threshold, and the local detachment area is compared with a detachment area threshold. When the bulge amplitude reaches the bulge amplitude threshold, the crack distribution density reaches the crack density threshold, and the local detachment area reaches the detachment area threshold, the dense, compacted fecal matter is deemed to have met the disintegration conditions. If any indicator fails to reach its corresponding threshold, disintegration is deemed incomplete, and the process continues to await the action of the medium.

[0055] S17: When the dense, compacted fecal matter meets the disintegration conditions, control the robot to lower the scraper to perform the scraping operation, and start the suction port to perform the suction operation.

[0056] When the dense, compacted fecal matter meets the disintegration conditions, the robot lowers the scraper from a safe height to a working position that contacts the bottom of the latrine, performs the scraping operation, and starts the suction pump to generate negative pressure at the suction port, sucking the scraped fecal matter fragments and residual slurry mixture into the sewage pipe and out of the latrine.

[0057] Reference Figure 2 and Figure 3 The dense agglomeration treatment method includes: S20: Collect the thickness and surface hardness values ​​of dense, compacted fecal scale.

[0058] The thickness of fecal matter refers to the vertical distance from the surface of dense, compacted fecal matter to the junction of the bottom and the latrine floor. A probe at the front of the robot is inserted vertically into the fecal matter at a preset insertion speed. When the probe insertion resistance suddenly increases, it indicates that the probe tip has touched the latrine floor. The vertical depth of the probe insertion at this point is recorded as the fecal matter thickness value.

[0059] The surface hardness value of fecal sludge refers to the degree of resistance of the fecal sludge surface to probe indentation, and the collection method is the same as that used in S10 for collecting the surface hardness of fecal sludge.

[0060] S21: Determine the single-point spraying amount, single-point penetration residence time, and spraying point spacing based on the fecal sludge thickness and surface hardness values.

[0061] Single-point spray volume refers to the volume of activating liquid sprayed by the robot at each spray point in a single application. The greater the thickness and surface hardness of the fecal matter, the greater the single-point spray volume.

[0062] The corresponding single-point spraying amount can be obtained by looking up the table based on the current thickness and surface hardness of the fecal matter using the preset thickness-hardness-spraying amount mapping table in the system. This mapping table is preset by those skilled in the art.

[0063] Single-point penetration residence time refers to the length of time the robot remains stationary after spraying the activating solution at each spraying point, waiting for the activating solution to penetrate into the fecal matter. The greater the thickness and surface hardness of the fecal matter, the longer the single-point penetration residence time.

[0064] By using the thickness-hardness-retention time mapping table preset in the system, the corresponding single-point penetration retention time can be obtained by looking up the table based on the current fecal scale thickness value and fecal scale surface hardness value. This mapping table is preset by those skilled in the art.

[0065] The spray point spacing refers to the horizontal distance between the centers of two adjacent spray points along the robot's travel direction. The greater the thickness of the fecal sludge and the higher the surface hardness of the fecal sludge, the smaller the spray point spacing.

[0066] The corresponding spray point spacing can be obtained by looking up the table based on the current thickness and surface hardness of the fecal matter using the preset thickness-hardness-spacing mapping table in the system. This mapping table is preset by those skilled in the art.

[0067] S22: Control the robot to raise the scraper to the preset safe height, and spray the activation liquid onto the surface of dense and compacted fecal matter point by point according to the single-point spraying volume, single-point penetration residence time and spraying point spacing, and collect the moisture content of the fecal matter.

[0068] The safety height is the same as the safety height in S13.

[0069] The device for spraying the activating solution is mounted on the robot and includes an activating solution tank, delivery pipelines, a flow control valve, and multiple nozzles arranged in an array. The activating solution tank stores the activating solution, the delivery pipelines connect the tank to each nozzle, and the flow control valves, located on the delivery pipelines, adjust the output flow rate of the activating solution from each nozzle based on the spray volume at a single point. Multiple nozzles are arranged at intervals along the robot's lateral direction, with each nozzle spraying vertically downwards towards the fecal matter surface. The distance between adjacent nozzles is equal to the distance between spray points.

[0070] The robot moves along the latrine channel, sequentially reaching each spray point according to the spacing between them. At each spray point, the robot stops and the flow control valve supplies activating liquid to the nozzle according to the single-point spray volume, causing the activating liquid to be sprayed vertically downwards onto the surface of the fecal matter at that spray point. After spraying, the robot remains at that spray point for a single-point penetration dwell time, allowing the activating liquid to penetrate into the fecal matter under gravity and capillary action. After the dwell time is up, the robot moves to the next spray point and repeats the above spraying and dwelling operation until all spray points have been sprayed.

[0071] The moisture content of fecal matter refers to the water content per unit mass of the fecal matter surface area after spraying the activating solution. It is collected by a moisture sensor located at the front of the robot after all spraying points have been completed. The moisture sensor obtains the moisture content data by detecting the dielectric constant of the fecal matter surface.

[0072] S23: In response to the completion of spraying at all spraying points, determine the retreat distance and fermentation time based on the manure thickness and manure moisture content.

[0073] The retreat distance refers to the distance the robot travels in the opposite direction from the current work area along the manure pit channel after all spray points have been sprayed. The greater the thickness of the manure and the lower the moisture content of the manure, the farther the retreat distance will be.

[0074] The corresponding retreat distance can be obtained by looking up the table based on the current thickness and moisture content of the fecal scale using the preset thickness-moisture content-retreat distance mapping table in the system. This mapping table is preset by those skilled in the art.

[0075] Fermentation time refers to the length of time the robot needs to wait for fermentation after it leaves the current area. The greater the thickness of the fecal matter and the lower the moisture content of the fecal matter, the longer the fermentation time.

[0076] The corresponding fermentation time can be obtained by looking up the thickness-moisture content-fermentation time mapping table preset in the system based on the current thickness and moisture content of the feces. This mapping table is preset by those skilled in the art.

[0077] S24: Control the robot to retreat from the current area to the retreat distance, wait for the fermentation time, allow the activation liquid to penetrate into the fecal matter, activate endogenous gas-producing bacteria to produce microbubbles, and loosen the fecal matter structure through the aggregation and expansion of microbubbles.

[0078] Endogenous gas-producing bacteria refer to anaerobic microbial communities that naturally exist in fecal matter and can produce gas through metabolism after obtaining carbon sources and nutrients. After the endogenous gas-producing bacteria utilize the carbon sources and nutrients in the activation solution, the metabolic activities of the bacterial community produce microbubbles. These microbubbles continuously accumulate and expand in the closed or semi-closed pores inside the fecal matter, applying multi-directional expansion stress to the dense structure of the fecal matter from the inside, causing the fecal matter to gradually change from a dense state to a loose state.

[0079] S25: In response to reaching the fermentation time, the robot is controlled to return to the current area and lower the scraper to remove the loosened fecal matter.

[0080] Once the fermentation time is reached, the robot returns to the current area. After returning, it collects data on the structural changes of the dense, compacted fecal matter after fermentation, following steps S14 to S16. This includes extracting the extent of bulging, the density of crack distribution, and the area of ​​localized detachment, to determine if the dense, compacted fecal matter meets the preset disintegration conditions. When the dense, compacted fecal matter meets the disintegration conditions, the robot lowers its scraper to remove the loosened fecal matter, following the same procedure as in S17.

[0081] If dense, compacted fecal matter does not meet the disintegration conditions, extend the fermentation time and continue to wait until the disintegration conditions are met.

[0082] The dense agglomeration treatment method further includes: S30: Collect the real-time surface temperature of the fecal matter and the real-time concentration of gas produced during the fermentation waiting period.

[0083] The real-time surface temperature of fecal matter refers to the real-time temperature value of the surface of dense, compacted fecal matter during the fermentation waiting period, which is obtained remotely in a non-contact manner through an infrared temperature sensor installed on the robot.

[0084] The real-time gas concentration refers to the real-time volume concentration of the target gas in the air above the surface of the manure during the fermentation waiting period. The target gas is the gas produced by the metabolism of endogenous gas-producing bacteria, which is remotely monitored at the retreat position by a gas sensor installed on the robot.

[0085] S31: Calculate the real-time fermentation rate based on the real-time surface temperature of the fecal matter, the real-time concentration of gas produced, and the moisture content of the fecal matter.

[0086] Real-time fermentation rate is a quantitative indicator of how fast the fermentation reaction is proceeding at any given moment.

[0087] The driving force for temperature change is obtained by dividing the difference between the current real-time temperature of the fecal surface and the initial temperature of the fecal surface collected and stored at the time of spray completion by the fermentation time. Similarly, the driving force for gas production change is obtained by dividing the difference between the current real-time concentration of gas production and the initial concentration of gas production collected and stored at the time of spray completion by the fermentation time. The real-time fermentation rate is obtained by weighting the driving forces for temperature change and gas production change with the moisture content of the fecal surface. The initial temperature and initial gas production concentration of the fecal surface are collected and stored in the system memory at all spray points in S22 at the time of spray completion. The fermentation time refers to the time from the time of spray completion to the current time.

[0088] S32: Determine the expected fermentation rate based on the thickness of the fecal matter.

[0089] The expected fermentation rate refers to the reference fermentation rate that should be achieved under the current fecal thickness and when fermentation is proceeding normally.

[0090] The expected fermentation rate is obtained by dividing the preset baseline fermentation rate by the fecal residue thickness. The baseline fermentation rate refers to the reference fermentation rate under normal fermentation conditions per unit thickness of fecal residue, and is preset by those skilled in the art. The larger the fecal residue thickness, the smaller the expected fermentation rate.

[0091] S33: Compare the real-time fermentation rate with the expected fermentation rate.

[0092] When the real-time fermentation rate is greater than or equal to the expected fermentation rate, it indicates that the fermentation process is normal or better than expected, and the current fermentation time should be maintained. When the real-time fermentation rate is lower than the expected fermentation rate, it indicates that the fermentation process is lagging behind expectations, and the fermentation time needs to be extended.

[0093] S34: When the real-time fermentation rate is lower than the expected fermentation rate, calculate the extended fermentation time based on the difference between the real-time fermentation rate and the expected fermentation rate.

[0094] Extended fermentation time refers to the additional waiting time required on top of the original fermentation time when the actual fermentation rate is lower than the expected fermentation rate.

[0095] The expected fermentation rate is subtracted from the real-time fermentation rate to obtain the rate difference. This rate difference is then multiplied by a preset extension time coefficient to obtain the extended fermentation time. The extension time coefficient refers to the amount of fermentation time extension corresponding to a unit rate difference, and is preset by those skilled in the art. The larger the rate difference, the longer the extended fermentation time.

[0096] S35: Add the extended fermentation time to the total fermentation time and update the fermentation completion time.

[0097] The fermentation duration is the original fermentation duration determined and stored in S23. The original fermentation completion time refers to the time elapsed after the fermentation duration from the moment of spraying completion. The original fermentation completion time is added to the extended fermentation duration to obtain the updated fermentation completion time, and the fermentation completion time stored in the system is replaced with the updated fermentation completion time.

[0098] S36: When the updated fermentation completion time is reached, control the robot to return to the current area.

[0099] When the updated fermentation completion time is reached, the robot returns to the current area and performs structural change state acquisition and disintegration condition judgment as described in S25. When the disintegration condition is met, the scraper is lowered to remove the loosened fecal matter.

[0100] It also includes a dynamic compensation method for activator loss: S40: Collect the rate of moisture decay on the surface of fecal matter at each spraying point after the activation liquid is sprayed point by point.

[0101] The rate of decrease in humidity on the surface of feces refers to the rate at which the humidity value on the surface of feces at each spraying point decreases over time after the activating liquid is sprayed.

[0102] After the activation liquid is sprayed at each spraying point, the surface humidity of the fecal matter at each spraying point is collected multiple times at preset time intervals. The humidity difference between two consecutive collections is calculated, and the humidity difference is divided by the time interval to obtain the humidity decay rate of the fecal matter surface at that spraying point. The preset time interval is set in advance by those skilled in the art. The surface humidity of the fecal matter is collected by a moisture sensor installed at the front of the robot.

[0103] S41: Determine the activator loss status at each spraying point based on the comparison result between the surface humidity decay rate of fecal matter and the preset decay rate threshold.

[0104] The decay rate threshold is the boundary value for determining whether the activator solution has experienced abnormally rapid loss, and it is set in advance by those skilled in the art.

[0105] The activator loss status refers to the classification of whether abnormal loss occurs during the retention and penetration of the activator on the fecal surface. This includes normal penetration and rapid loss. Normal penetration means the activator penetrates the fecal surface at a normal rate without being lost. Rapid loss means the activator flows rapidly to low-lying areas due to gravity caused by unevenness at the bottom of the latrine, resulting in significant loss of the activator at the spraying point before it has fully penetrated.

[0106] The rate of moisture decay on the surface of the fecal sludge at each spraying point was compared with a decay rate threshold. When the rate of moisture decay on the surface of the fecal sludge did not exceed the decay rate threshold, the spraying point was determined to be in a normal penetration state. When the rate of moisture decay on the surface of the fecal sludge exceeded the decay rate threshold, the spraying point was determined to be in a state of rapid loss of activating liquid.

[0107] S42: When the rate of moisture decay on the surface of fecal matter at a local spraying point exceeds the decay rate threshold, the spraying point is determined to be in a state of rapid loss of activating liquid.

[0108] The rapid loss of activating solution refers to the situation where the activating solution sprayed on the surface of fecal matter flows rapidly to the low-lying areas due to the unevenness of the bottom of the latrine, resulting in a large amount of activating solution being lost before it can fully penetrate at the spraying point.

[0109] When the rate of moisture decay on the surface of fecal matter at a local spraying point exceeds the decay rate threshold, it indicates that the spraying point is in a state of rapid loss of activating liquid.

[0110] S43: In response to the rapid loss of activating liquid, calculate the loss compensation dam height based on the surface humidity decay rate and the thickness of the fecal matter at the spray point.

[0111] The height of the loss compensation dike refers to the height of the temporary liquid-blocking dike constructed downstream of the loss path at the spraying point to prevent the loss of activating liquid.

[0112] The specific method for calculating the height of the loss compensation dike is as follows: multiply the surface moisture decay rate of the fecal matter by a preset dike height coefficient, and then multiply by the fecal matter thickness value to obtain the loss compensation dike height. The dike height coefficient refers to the dike height value corresponding to a unit decay rate and a unit fecal matter thickness, which is preset by those skilled in the art.

[0113] S44: Control the robot to press the scraper down to the height of the loss compensation dike, and build a temporary dike around the spray point.

[0114] Pressing the scraper down to the height of the loss compensation dike means adjusting the scraper downward from a safe height so that the scraper blade is pressed into the surface of the manure up to the height of the loss compensation dike.

[0115] The robot is controlled to perform a short-distance lateral scraping motion perpendicular to the direction of the manure pit channel at the low-lying edge of the spraying point. This pushes the manure in front of the scraper to the low-lying side of the spraying point, accumulating to form a lateral liquid-blocking dike. The dike separates the spraying point from the low-lying area to prevent the activating liquid from flowing into the low-lying area.

[0116] S45: After the temporary cofferdam is constructed, spray activation liquid at the spraying point until the surface humidity of the fecal matter reaches the preset infiltration humidity threshold.

[0117] The penetration humidity threshold refers to the minimum surface humidity of the fecal sludge required for the activating solution to fully penetrate into the sludge, and is preset by those skilled in the art. When the surface humidity of the fecal sludge reaches the penetration humidity threshold, supplementary spraying is stopped. The surface humidity of the fecal sludge is collected in real time using a moisture sensor.

[0118] Once the temporary cofferdam is constructed, the spraying point is sprayed with activating liquid until the surface moisture of the fecal matter reaches the infiltration moisture threshold.

[0119] Reference Figure 4 It also includes a layered structure treatment method when the current fecal waste type is determined to be a hard-on-top, soft-on-bottom layered structure: S50: Collect the thickness value of the upper hard shell and the distribution density of cracks on the hard shell surface.

[0120] The hard shell thickness value refers to the thickness of the upper dry, hard fecal shell in a layered structure with a hard top and a soft bottom. A probe at the front of the robot is inserted vertically into the hard shell surface at a preset insertion speed. When the probe insertion resistance drops sharply, it indicates that the probe tip has penetrated the hard shell layer and entered the lower thin fecal layer. The vertical depth of the probe insertion at the moment of the sharp drop is recorded as the hard shell thickness value.

[0121] The crack distribution density on a hard shell surface refers to the number of natural cracks per unit area on the upper hard shell surface. Images of the hard shell surface are acquired using a vision sensor positioned at the front of the robot. Crack outlines are extracted from the images, and the number of cracks per preset unit area is counted. The crack distribution density on the hard shell surface is obtained by dividing the number of cracks by the preset unit area. The preset unit area is set in advance by those skilled in the art.

[0122] S51: Determine the single-point application rate and coverage area of ​​water-absorbing and expanding particles based on the hard shell thickness value and the distribution density of cracks on the hard shell surface.

[0123] Water-absorbing and expanding granules are high-molecular-weight material particles that can absorb water and significantly expand and increase in weight when exposed to water. After being spread on the surface of a hard shell, the water-absorbing and expanding granules absorb the diluted fecal water seeping from the cracks in the shell. The granules expand in volume and increase in weight, exerting a downward gravitational load on the shell, causing it to collapse under the continuous increase in weight.

[0124] Single-point spreading volume refers to the mass of water-absorbing and expanding granules that the robot spreads in a single application at each spreading point.

[0125] The single-point application rate is obtained by multiplying the hard shell thickness value by a preset application rate coefficient and then dividing by the sum of the hard shell surface crack distribution density and 1. The preset application rate coefficient is set in advance by those skilled in the art.

[0126] The coverage area refers to the radius of the circular area covered by the water-absorbing and expanding particles, with each coverage point as the center.

[0127] The coverage area is obtained by multiplying the hard shell thickness by a preset coverage coefficient and then dividing by the sum of the hard shell surface crack distribution density and 1. The preset coverage coefficient is set in advance by those skilled in the art.

[0128] S52: Control the robot to spread water-absorbing and expanding particles onto the hard shell surface according to the single-point spreading amount and spreading coverage area, and collect the height change signal of the hard shell surface and the overflow signal of the diluted fecal water under the hard shell after spreading the water-absorbing and expanding particles.

[0129] The robot is controlled to move along the manure pit channel, and the location of each spreading point is determined according to the spreading coverage area. At each spreading point, water-absorbing and expanding granules are placed on the hard shell surface according to the single-point spreading amount.

[0130] The height change signal refers to the measured value of the height change over time at each monitoring point on the hard shell surface after the water-absorbing and expanding granules are spread. This is continuously collected by a laser displacement sensor located at the front of the robot at a preset sampling frequency, which is pre-set by those skilled in the art.

[0131] An overflow signal is a detection signal indicating that diluted fecal matter is overflowing upwards from cracks or edges beneath the hard shell. A conductivity sensor located at the front of the robot detects whether liquid is overflowing from the surface of the hard shell; when the conductivity sensor detects liquid, it outputs an overflow signal.

[0132] S53: Determine whether the hard shell has collapsed as a whole based on the height change signal and the overflow signal.

[0133] Overall collapse refers to the process by which the upper hard shell loses its supporting strength as the water-absorbing and expanding particles continue to increase in weight, sinking downwards and mixing with the diluted fecal matter below.

[0134] The current height of the hard shell surface recorded in the height change signal is compared with the initial height to calculate the height drop. When the height drop exceeds a preset height drop threshold, and an overflow signal is detected simultaneously, it is determined that the hard shell has collapsed entirely. The height drop threshold is preset by those skilled in the art.

[0135] S54: When the hard shell collapses as a whole, perform scraping and vacuuming operations.

[0136] When the hard shell collapses as a whole, the robot lowers the scraper to a working position that contacts the bottom of the cesspool, moves along the cesspool channel, and pushes the collapsed cesspool fragments and the mixture of thin fecal water to the vicinity of the suction port. The suction pump is then started to suck it into the sewage pipe and discharge it from the cesspool.

[0137] It also includes a dynamic compensation method for particle roll-off: S60: Collect slope information of the hard shell surface.

[0138] Slope information refers to the tilt angle data of each region of the hard shell surface relative to the horizontal plane. It is obtained by scanning the surface topography of the hard shell using tilt sensors located at the front of the robot and calculating the angle between the tangent plane of each region and the horizontal plane.

[0139] S61: Determine the risk level of particle roll-off in each paving area based on the comparison results between slope information and preset slope threshold.

[0140] The slope threshold refers to the slope limit value used to classify different roll-off risk levels, which is set in advance by those skilled in the art.

[0141] The risk level of particle roll-off refers to the classification of water-absorbing and expanding particles spread on a hard shell surface that may roll off and be lost due to slope factors.

[0142] When the slope information does not exceed the slope threshold, the risk level of particle roll-off is determined to be low. When the slope information exceeds the slope threshold, the risk level of particle roll-off is determined to be high.

[0143] S62: When the risk level of particle roll-off in a local area exceeds the preset benchmark risk level, the compensation spreading amount is calculated based on the slope information and the distribution density of cracks on the hard shell surface of the area.

[0144] The baseline risk level refers to the reference level for determining whether the risk of particle roll-off requires compensatory spreading, and is set in advance by those skilled in the art.

[0145] Compensation spread amount refers to the additional spread amount applied to compensate for particle roll-off losses caused by slope.

[0146] The slope information of the area is multiplied by a preset compensation coefficient, and then divided by the sum of the density of cracks on the hard shell surface and 1 to obtain the compensation application amount. The preset compensation coefficient is set in advance by those skilled in the art.

[0147] S63: Control the robot to supplement the area with the compensation spreading amount, and collect the secondary height change signal of the hard shell surface after the supplementary spreading.

[0148] The secondary height change signal refers to the measurement value of the change in the height of the hard shell surface over time, which is collected again after the supplementary spreading is completed. The acquisition method is the same as the acquisition method of the height change signal in S52.

[0149] The robot is controlled to supplement the area with the compensation spreading amount, and the secondary height change signal of the hard shell surface after the supplementary spreading is collected for subsequent steps.

[0150] S64: Calculate the rate of altitude descent based on the secondary altitude change signal and the altitude change signal.

[0151] The rate of descent refers to the speed at which the height of the hard shell surface decreases.

[0152] The height difference is obtained by subtracting the current height value recorded in the secondary height change signal from the height value recorded before the supplementary application of the height change signal. The height difference is then divided by the time interval between the last acquisition before the supplementary application of the height change signal and the first acquisition after the supplementary application of the height change signal to obtain the height descent rate.

[0153] S65: When the rate of descent exceeds the preset descent rate threshold, it is determined that the hard shell is undergoing accelerated collapse, and the current spreading state is maintained.

[0154] The descent rate threshold is a rate limit value for determining whether the hard shell collapse is in an accelerated phase, and it is set in advance by those skilled in the art. When the descent rate exceeds the descent rate threshold, it indicates that the water-absorbing and expanding particles are continuously absorbing water and increasing in weight, and the hard shell collapse process is accelerating. No additional intervention is required, and the current spreading state should be maintained.

[0155] S66: When the rate of descent does not exceed the preset descent rate threshold, the hard shell collapse is determined to be stagnant. The additional spreading amount is calculated based on the difference between the rate of descent and the descent rate threshold, and the robot is controlled to perform the additional spreading.

[0156] Hard shell collapse stagnation refers to a state where, under the gravitational load applied by water-absorbing and expanding particles, the rate of height descent of the hard shell slows down to below the descent rate threshold, and the collapse process tends to stop. This usually indicates that the currently spread water-absorbing and expanding particles have reached their maximum water absorption capacity, or that the actual gravitational load applied to the hard shell is insufficient due to particle roll-off and loss.

[0157] Additional smearing refers to the further increase in smearing volume to reactivate a stagnant crust collapse process.

[0158] The rate difference is obtained by subtracting the descent rate threshold from the height descent rate. This rate difference is then multiplied by a preset additional spreading coefficient to obtain the additional spreading amount. The preset additional spreading coefficient is set in advance by those skilled in the art.

[0159] Controlling robots to perform additional spreading refers to spreading water-absorbing and expanding particles again on the collapsed and stagnant area according to the additional spreading amount.

[0160] It also includes particle separation and recovery methods: S70: Collects negative pressure fluctuation signals in the pipeline during the suction of slurry mixture from the suction port.

[0161] The pipeline negative pressure fluctuation signal refers to the fluctuation range of the negative pressure value in the suction pipeline over time. A pressure sensor installed in the suction pipeline continuously collects negative pressure values ​​at a preset sampling frequency, and the absolute value of the negative pressure difference between adjacent sampling points is calculated as the pipeline negative pressure fluctuation signal. The preset sampling frequency is set in advance by those skilled in the art.

[0162] S71: Based on the comparison result between the pipeline negative pressure fluctuation signal and the preset fluctuation threshold, determine whether the water-absorbing and expanding particles intercepted at the front end of the suction port filter have reached the preset accumulation amount.

[0163] The front-end filter screen of the suction port refers to a mesh-like filter device installed at the inlet of the suction port. Its mesh size is smaller than the expanded particle size of the water-absorbing and expanding particles. It is used to trap the expanded particles at the bottom surface of the pit during the suction process, allowing only the slurry mixture to pass through. The mesh size is predetermined by those skilled in the art based on the expanded particle size of the water-absorbing and expanding particles.

[0164] The fluctuation threshold refers to the limit value corresponding to the pipeline negative pressure fluctuation signal, which is used to determine whether the particle accumulation amount has reached the preset accumulation amount. It is set in advance by those skilled in the art.

[0165] The accumulation amount refers to the threshold of the cumulative amount of water-absorbing and expanding particles that requires suspending the sludge suction operation and starting the particle recovery program. It is set in advance by those skilled in the art.

[0166] The negative pressure fluctuation signal in the pipeline is compared with the fluctuation threshold. When the negative pressure fluctuation signal does not exceed the fluctuation threshold, it indicates that the particle accumulation at the filter screen has not yet reached the required level, and normal suction continues. When the negative pressure fluctuation signal exceeds the fluctuation threshold, it indicates that a large amount of particles have accumulated at the filter screen, and the effective flow area has significantly decreased, indicating that the accumulation of water-absorbing and expanding particles has reached the required level.

[0167] S72: When the negative pressure fluctuation signal in the pipeline exceeds the fluctuation threshold, it is determined that the accumulation of water-absorbing and expanding particles has reached the accumulation amount, and the sludge suction operation is suspended.

[0168] When the negative pressure fluctuation signal in the pipeline exceeds the fluctuation threshold, it is determined that the accumulation of water-absorbing and expanding particles has reached the required amount. The sewage pump must be shut down to stop the suction of the slurry mixture from the suction port so that the particle collection procedure can be executed subsequently.

[0169] S73: Control the robot to continue moving forward in the current direction of travel, so that the rear collection shovel passes through the particle accumulation area and collects the water-absorbing and expanding particles trapped on the bottom surface of the pit to the preset collection position.

[0170] A collection shovel is a shovel-shaped collection device located at the rear of a robot, with its blades in contact with the bottom surface of the pit.

[0171] The collection location refers to a pre-designated area within the latrine passage designated for the temporary storage of recycled particles. It is located ahead of the current work area along the direction of travel and is predetermined by those skilled in the art.

[0172] After pausing its suction operation, the robot continues moving forward in its original direction. During this forward movement, the collection shovel at the rear of the robot passes sequentially over the areas of particles that were trapped by the filter and accumulated on the bottom surface of the pit during the previous suction operation. The shovel's blades press against the pit's bottom surface, pushing the particles forward. When the robot reaches the collection point, the collection shovel concentrates and pushes the particles there.

[0173] S74: Collects the collection resistance signal of the collecting shovel.

[0174] The collection resistance signal refers to the reverse resistance value along the direction of movement experienced by the collecting shovel during its forward movement to collect particles. It is collected by a force sensor located at the connection point between the collecting shovel and the robot.

[0175] S75: When the collection resistance signal is lower than the preset resistance threshold, it is determined that the particles have been collected and the suction operation is resumed.

[0176] The resistance threshold is the resistance limit value at which the particles on the surface of the pit bottom have been completely cleared by the collection shovel, and it is set in advance by those skilled in the art.

[0177] When the collecting shovel passes through the particle accumulation area, the particles accumulated in front of the shovel blade create reverse resistance, resulting in a high collection resistance signal. Once all the particles have been pushed to the collection position, no more particles accumulate in front of the shovel blade, and the collection resistance signal decreases. When the collection resistance signal falls below the resistance threshold, it is determined that particle collection is complete. Resuming the suction operation means restarting the suction pump to continue pumping the slurry mixture.

[0178] It also includes methods for dealing with the accumulation of corrosive gases during the treatment of dense, compacted fecal matter: S80: Collects ammonia and hydrogen sulfide concentrations in the manure pit channel while the robot is retreating and waiting for fermentation.

[0179] Ammonia concentration refers to the volume concentration of ammonia in the air within the septic tank passage, which is obtained through an ammonia sensor mounted on the robot.

[0180] Hydrogen sulfide concentration refers to the volume concentration of hydrogen sulfide in the air within the septic tank passage, which is obtained through a hydrogen sulfide sensor mounted on the robot.

[0181] S81: Calculate the comprehensive toxic gas risk index based on ammonia and hydrogen sulfide concentrations.

[0182] The comprehensive toxic gas risk index is a quantitative indicator that comprehensively reflects the degree of danger of toxic and harmful gases in cesspool passages.

[0183] The ammonia risk component is obtained by dividing the ammonia concentration by a preset safe ammonia concentration value. The hydrogen sulfide risk component is obtained by dividing the hydrogen sulfide concentration by a preset safe hydrogen sulfide concentration value. The ammonia risk component and the hydrogen sulfide risk component are then weighted and summed according to preset weight ratios to obtain the comprehensive toxic gas risk index. The safe ammonia concentration value, the safe hydrogen sulfide concentration value, and the weight ratios are all preset by those skilled in the art.

[0184] S82: When the comprehensive toxic gas risk index exceeds the preset safety threshold, the control robot starts its built-in ventilation device to introduce outside air into the cesspool channel to dilute the toxic gas concentration until the comprehensive toxic gas risk index falls back below the safety threshold.

[0185] The safety threshold refers to the limit value of the comprehensive toxic gas risk index that triggers forced ventilation measures, which is set in advance by those skilled in the art.

[0186] A ventilation system is a device installed on a robot to introduce fresh air from outside the latrine tunnel into the tunnel and promote airflow within the tunnel. The ventilation system includes a fan and an air duct. After the fan is started, fresh air from outside the latrine tunnel is drawn in through the air duct and delivered to the area where the robot is located, thereby diluting the concentration of toxic gases in the tunnel.

[0187] Once activated, the ventilation system operates continuously, with the robot constantly collecting ammonia and hydrogen sulfide concentrations and updating the overall toxic gas risk index. When the updated overall toxic gas risk index falls below the safe threshold, the ventilation system is shut down.

[0188] It also includes a scraper self-cleaning method: S90: Collect the cumulative thickness of fecal matter on the scraper surface.

[0189] The cumulative thickness of fecal matter on the scraper surface refers to the average thickness of the fecal matter layer that adheres to and compacts on the surface after multiple scraping operations. This is achieved by capturing images of the scraper surface using a vision sensor mounted on the robot, extracting the outline of the fecal matter layer from the images, and calculating the average distance from each pixel within the outline to the scraper body surface.

[0190] S91: Determine whether to perform self-cleaning operation based on the comparison result between the accumulated thickness of fecal matter and the preset cleaning trigger threshold.

[0191] The cleaning trigger threshold is the limit value of the accumulated thickness of fecal matter at which the scraper needs to perform a self-cleaning operation, which is set in advance by those skilled in the art.

[0192] The thickness of accumulated fecal matter is compared with a cleaning trigger threshold. When the accumulated fecal matter thickness does not exceed the cleaning trigger threshold, it indicates that the degree of fecal matter accumulation on the scraper surface is within an acceptable range, and the self-cleaning operation is not performed, continuing the current operation. When the accumulated fecal matter thickness exceeds the cleaning trigger threshold, it indicates that the fecal matter accumulation on the scraper surface has affected scraping efficiency, and it is determined that a self-cleaning operation is required.

[0193] S92: When the accumulated thickness of fecal matter exceeds the cleaning trigger threshold, the robot is controlled to move to the preset rinsing position and spray water onto the scraper surface to dissolve the pre-coated water-soluble sacrificial coating, and the attached fecal matter falls off along with the coating.

[0194] The flushing location refers to a pre-designated location within the latrine channel for performing the scraper self-cleaning operation, which is set in advance by those skilled in the art.

[0195] A water-soluble sacrificial coating is a thin, water-soluble polymer film pre-applied to the scraper surface before cleaning begins. This film dissolves rapidly upon contact with water, losing its adhesion to the scraper surface. Since the fecal matter adheres to the water-soluble sacrificial coating rather than directly to the scraper body, it loses its adhesive base and detaches from the scraper surface along with the coating once the coating dissolves. After self-cleaning, the scraper surface is restored to a clean state, and the robot returns to its original work area to continue scraping and vacuuming operations.

[0196] Based on the same inventive concept, embodiments of the present invention provide a control system for a pigsty manure pit cleaning robot, comprising: The data acquisition module is used to collect data on scraper travel resistance, probe insertion resistance, fecal surface hardness, structural change status, fecal thickness, fecal surface hardness, fecal moisture content, real-time fecal surface temperature, real-time gas concentration, fecal surface humidity decay rate, hard shell thickness, hard shell surface crack distribution density, height change signal, overflow signal, slope information, secondary height change signal, pipeline negative pressure fluctuation signal, collection resistance signal, ammonia concentration, hydrogen sulfide concentration, and cumulative fecal thickness on the scraper surface. A memory for storing a program that implements a control method for a pigsty manure pit cleaning robot; The processor is used to load and execute programs stored in memory.

[0197] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0198] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A control method for a pigsty manure pit cleaning robot, characterized in that, include: The scraping resistance, probe insertion resistance, and surface hardness of the feces were collected during the scraping and suction operations performed by the robot as it moved along the cesspool channel. The type of feces is determined by combining the scraper's travel resistance, the probe's insertion resistance, and the surface hardness of the feces. When the current fecal waste type is determined to be dense and compacted fecal sludge, a dense and compacted fecal sludge treatment method is generated. In response to the treatment method for dense and compacted fecal matter, the robot is controlled to lift the scraper and introduce a medium that can produce a volume expansion effect into the interior of the dense and compacted fecal matter. The structural changes of dense, compacted fecal matter after the introduction of a medium were collected. Based on the structural change state, the amplitude of the bulge, the density of the crack distribution, and the area of ​​local detachment are extracted; The density of cracks and the area of ​​local detachment are combined to determine whether the dense and compacted fecal matter meets the preset disintegration conditions. When the dense, compacted fecal matter meets the disintegration conditions, the robot is controlled to lower the scraper to perform a scraping operation and activate the suction port to perform a suction operation.

2. The control method for a pigsty manure pit cleaning robot according to claim 1, characterized in that, The dense agglomeration treatment method includes: Collect the thickness and surface hardness values ​​of dense, compacted fecal scale. The single-point spraying amount, single-point penetration retention time, and spraying point spacing are determined based on the thickness and surface hardness of the fecal residue. The robot is controlled to raise the scraper to a preset safe height, and the activation liquid is sprayed point by point onto the surface of dense and compacted fecal matter according to the single-point spraying volume, single-point penetration residence time and spraying point spacing, and the moisture content of the fecal matter is collected. In response to the completion of spraying at all spraying points, the retreat distance and fermentation time are determined based on the thickness and moisture content of the manure. Control the robot to retreat from the current area to the retreat distance, wait for the fermentation time, allow the activation liquid to penetrate into the fecal matter, activate endogenous gas-producing bacteria to produce microbubbles, and loosen the fecal matter structure through the aggregation and expansion of microbubbles. In response to reaching the fermentation time, the robot returns to the current area and lowers the scraper to remove the loosened fecal matter.

3. The control method for a pigsty manure pit cleaning robot according to claim 2, characterized in that, The dense agglomeration treatment method further includes: Real-time temperature of the manure surface and real-time gas concentration were collected during the fermentation waiting period; The real-time fermentation rate is calculated based on the real-time surface temperature of the fecal matter, the real-time concentration of gas produced, and the moisture content of the fecal matter. The expected fermentation rate is determined based on the thickness of the fecal matter. Compare the real-time fermentation rate with the expected fermentation rate; When the real-time fermentation rate is lower than the expected fermentation rate, the fermentation duration extension time is calculated based on the difference between the real-time fermentation rate and the expected fermentation rate. Add the extended fermentation time to the total fermentation time and update the fermentation completion time. When the updated fermentation completion time is reached, control the robot to return to the current area.

4. The control method for a pigsty manure pit cleaning robot according to claim 2, characterized in that, It also includes a dynamic compensation method for activator loss: The rate of moisture decay on the surface of fecal matter at each spraying point was collected after the activation solution was sprayed point by point. The loss status of activation liquid at each spraying point is determined based on the comparison between the surface humidity decay rate of fecal matter and the preset decay rate threshold. When the rate of moisture decay on the surface of fecal matter at a local spraying point exceeds the decay rate threshold, it is determined that the spraying point is in a state of rapid loss of activating liquid. In response to the rapid loss of the activating liquid, the height of the loss compensation dike is calculated based on the rate of moisture decay on the surface of the fecal matter at the spray point and the thickness of the fecal matter. The robot is controlled to press the scraper down to the height of the loss compensation dike, and a temporary dike is constructed around the spraying point. Once the temporary cofferdam is constructed, the spraying point is sprayed with activating liquid until the surface humidity of the fecal matter reaches the preset infiltration humidity threshold.

5. The control method for a pigsty manure pit cleaning robot according to claim 1, characterized in that, It also includes a layered structure treatment method when the current fecal waste type is determined to be a hard-on-top, soft-on-bottom layered structure: Collect the thickness value of the upper hard shell and the distribution density of cracks on the hard shell surface; The single-point application rate and coverage area of ​​the water-absorbing and expanding particles are determined based on the hard shell thickness value and the distribution density of cracks on the hard shell surface. The robot is controlled to spread water-absorbing and expanding particles onto the surface of the hard shell according to the single-point spreading amount and the spreading coverage area, and to collect the height change signal of the hard shell surface and the overflow signal of the diluted fecal water below the hard shell after spreading the water-absorbing and expanding particles. Determine whether the hard shell has collapsed as a whole based on height change signals and overflow signals; When the hard shell collapses as a whole, scraping and vacuuming operations are performed.

6. The control method for a pigsty manure pit cleaning robot according to claim 5, characterized in that, It also includes a dynamic compensation method for particle roll-off: Collect slope information of the hard shell surface; The risk level of particle roll-off in each paving area is determined based on the comparison between slope information and preset slope threshold. When the risk level of particle roll-off in a local area exceeds the preset benchmark risk level, the compensation spreading amount is calculated based on the slope information and the distribution density of cracks on the hard shell surface of that area. The robot is controlled to supplement the area with the compensation spreading amount, and the secondary height change signal of the hard shell surface is collected after the supplementary spreading. Calculate the rate of altitude descent based on the secondary altitude change signal and the altitude change signal; When the rate of descent exceeds the preset descent rate threshold, it is determined that the hard shell is undergoing accelerated collapse, and the current spreading state is maintained; When the rate of descent does not exceed the preset descent rate threshold, the hard shell collapse is determined to be stagnant. The additional spreading amount is calculated based on the difference between the rate of descent and the descent rate threshold, and the robot is controlled to perform the additional spreading.

7. The control method for a pigsty manure pit cleaning robot according to claim 6, characterized in that, It also includes particle separation and recovery methods: Collect negative pressure fluctuation signals in the pipeline during the suction of slurry mixture from the suction port; The comparison between the pipeline negative pressure fluctuation signal and the preset fluctuation threshold determines whether the water-absorbing and expanding particles trapped at the front end of the suction port have reached the preset accumulation amount. When the negative pressure fluctuation signal in the pipeline exceeds the fluctuation threshold, it is determined that the accumulation of water-absorbing and expanding particles has reached the accumulation limit, and the sludge suction operation is suspended. Control the robot to continue moving forward in the current direction of travel, so that the rear collection shovel passes through the particle accumulation area and collects the water-absorbing and expanding particles trapped on the bottom surface of the pit to the preset collection position. Collect the collection resistance signal from the collecting shovel; When the collected resistance signal is lower than the preset resistance threshold, it is determined that the particles have been collected and the suction operation is resumed.

8. The control method for a pigsty manure pit cleaning robot according to claim 2, characterized in that, It also includes methods for dealing with the accumulation of corrosive gases during the treatment of dense, compacted fecal matter: The concentrations of ammonia and hydrogen sulfide in the manure pit channel were collected while the robot was retreating and waiting for fermentation. The comprehensive toxic gas risk index is calculated based on ammonia and hydrogen sulfide concentrations. When the overall toxic gas risk index exceeds the preset safety threshold, the control robot activates its built-in ventilation device to introduce outside air into the cesspool channel to dilute the toxic gas concentration until the overall toxic gas risk index falls back below the safety threshold.

9. The control method for a pigsty manure pit cleaning robot according to claim 1, characterized in that, It also includes a scraper self-cleaning method: The thickness of accumulated fecal matter on the surface of the scraper was measured. Whether to perform a self-cleaning operation is determined based on the comparison between the accumulated thickness of fecal matter and the preset cleaning trigger threshold. When the accumulated thickness of fecal matter exceeds the cleaning trigger threshold, the robot is controlled to move to the preset rinsing position and spray water onto the scraper surface to dissolve the pre-coated water-soluble sacrificial coating, and the attached fecal matter falls off along with the coating.

10. A control system for a pigsty manure pit cleaning robot, characterized in that, include: The data acquisition module is used to collect data on the scraper's travel resistance, probe insertion resistance, surface hardness of manure, and structural changes. A memory for storing a program that implements a control method for a pigsty manure pit cleaning robot as described in any one of claims 1 to 9; The processor is used to load and execute programs stored in memory.

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