Intelligent plateau manure picking truck

Abstract

The utility model belongs to the technical field of farm manure collection, and particularly relates to an intelligent plateau manure picking vehicle which comprises a trolley with a supporting plate, a bucket, a conveying belt and a storage box, the bucket is arranged at the front end of the trolley, the conveying belt is arranged behind the bucket, the storage box is arranged behind the conveying belt, the bucket scoops up manure and places the manure on the conveying belt, and the storage box is arranged behind the conveying belt. The conveying belt conveys excrement into the storage box, and a camera, a laser radar, a battery, a main control system, an acceleration gyroscope sensor and a GPSamp are arranged on the trolley; the storage box is provided with a Beidou positioning sensor, the storage box is provided with a temperature and humidity sensor, a pressure sensor, a laser distance measuring sensor and an angle inclination sensor, and the main control system controls excrement collection, conveying and dumping according to information of the sensors on the trolley and the storage box. The labor cost and the labor intensity can be obviously reduced, and the cow dung pollution problem can be solved.

Description

Technical Field

[0001] This utility model belongs to the field of livestock farm manure collection technology, and specifically relates to an intelligent high-altitude manure collection vehicle. Background Technology

[0002] While my country's livestock farming industry has developed steadily, pollution from livestock farming has gradually intensified, placing immense pressure on the environment. This pollution not only hinders socio-economic development but also restricts the sustainable development of the livestock industry itself. In high-altitude areas where cattle and sheep are primarily raised, livestock manure produces up to 168 different foul-smelling gases due to chemical reactions and biochemical activities. Furthermore, cow manure is sticky and has a high moisture content; especially after surface moisture evaporates, it forms a hard crust. This hard crust and sticky cow manure make it difficult for plants to penetrate, and the low oxygen content between the manure and soil layer leads to oxygen deficiency, lack of light, yellowing of plants, and eventual suffocation and death.

[0003] As a result, numerous large-scale integrated sewage collection devices have emerged. However, they all suffer from functional deficiencies, primarily exhibiting the following problems:

[0004] (1) It was developed in the context of collective breeding farms, without taking into account the problems of low efficiency caused by varied terrain and dispersed manure.

[0005] (2) It damages the grassland area and harms the integrity of the land.

[0006] (3) Low level of intelligence and high demand for manpower.

[0007] (4) The lack of accurate fecal identification and location capabilities leads to omissions or repetitive work during the collection process, reducing overall work efficiency.

[0008] (5) The maintenance and cleaning of existing equipment is difficult, and the lack of anti-adhesion design results in a short service life and increased operating costs. Utility Model Content

[0009] In view of the shortcomings of existing technologies, the purpose of this utility model is to provide an intelligent high-altitude manure collection vehicle that is highly automated, environmentally friendly, can significantly reduce labor costs and labor intensity, help solve the problem of cow manure pollution, fill the gap in the intelligent collection of manure, and fill the market gap.

[0010] A smart high-altitude manure collection vehicle includes a trolley with a support plate, a bucket, a conveyor belt, and a storage box. The trolley has a bucket at its front end and a conveyor belt at its rear. The bottom of the bucket has a bracket, and the two sides of the bracket are connected to a drive assembly connected to a motor I fixed to the support plate. A telescopic rod II fixed to the side wall of the conveyor belt is connected to the bracket. The top of the conveyor belt is fixedly connected to a support column of the support plate. The motor II fixed to the support plate is connected to a drive shaft at the bottom of the conveyor belt through a track I. A storage box is located above the support plate and behind the conveyor belt. One end of the storage box is hinged to the support plate, and the other end is supported by the telescopic rod I fixed to the support plate.

[0011] A horizontal support frame is installed on the support plate above the bucket. A camera is installed above the horizontal support frame. An equipment box is installed above the column in the middle of the support plate. A lidar is placed inside the equipment box. Temperature and humidity sensors and pressure sensors are installed at the bottom of the storage box. Laser rangefinders are symmetrically installed on the top side wall of the storage box. An angle tilt sensor is installed at the bottom of the storage box.

[0012] Below the support plate is a storage box containing a battery, a main control system, an accelerometer / gyroscope sensor, and a GPS & BeiDou positioning sensor. A temperature and humidity sensor, a pressure sensor, an angle / tilt sensor, a laser rangefinder, a camera, and a lidar are also included. The accelerometer / gyroscope sensor and the GPS & BeiDou positioning sensor are connected to the main control system, which is used for the movement of motor I, motor II, telescopic rod I, telescopic rod II, and the trolley. The main control system is connected to a communication module, which transmits information acquired by the main control system to a remote location. The temperature and humidity sensor, pressure sensor, camera, lidar, laser rangefinder, accelerometer / gyroscope sensor, angle / tilt sensor, main control system, and communication module are electrically connected to the battery.

[0013] The vehicle includes a suspension system, a frame, and a power unit. The suspension system has four wheels, and the axles of the wheels are connected to the power unit on the frame via tracks V. The top of the suspension system is connected to a support plate, and the power unit is connected to the main control system.

[0014] The drive assembly includes track II, track III, and a rotating rod. Motor I is connected to the rotating rod via track II, and the rotating rod is connected to the end of the bracket via track III. One end of the rotating rod is rotatably connected to the trolley, and the other end is rotatably connected to the side wall of the conveyor belt. Motor I drives the rotating rod to rotate via track II, and the rotating rod drives the bracket to move via track III for bucket lifting and lowering.

[0015] Two sets of roller brush devices are provided above the bucket. Each roller brush device includes a motor III, a track IV, a gear transmission rod I, a gear transmission rod II, and a cylindrical roller brush. The motor III is fixed to the side wall of the bucket. One end of the track IV is connected to the output shaft of the motor III, and the other end is connected to the transmission rod end of the gear transmission rod I. The gear end of the gear transmission rod I meshes with the gear end of the gear transmission rod II. The transmission rod end of the gear transmission rod II is rotatably connected to the bucket. A cylindrical roller brush is provided on the outer side of the transmission rod end of the gear transmission rod II. The motor III is connected to the main control system.

[0016] The front end of the bucket is equipped with shovel teeth, and the inside of the bucket is equipped with triangular plastic strip blocks.

[0017] The surface of the bucket is coated with a Teflon coating.

[0018] The telescopic rod I and telescopic rod II are hydraulic rods.

[0019] This utility model has the following beneficial effects:

[0020] 1. This utility model accurately determines the location of feces using a camera and lidar, enabling the feces collection truck to reach the designated feces location for collection. Simultaneously, by setting temperature and humidity sensors, pressure sensors, and laser rangefinders, the collection status of feces in the storage tank can be accurately determined, facilitating dumping.

[0021] 2. The front end of the bucket of this utility model is equipped with shovel teeth, which effectively reduces the adverse impact on the environment during operation. At the same time, triangular plastic strip blocks are provided inside the bucket to make cow manure enter more smoothly from the outside to the inside, prevent it from sticking to the shovel mouth, and prevent cow manure from falling out, achieving "only in, no out".

[0022] 3. This utility model is highly automated, adaptable to high-altitude environments, efficiently collects manure, reduces labor costs, and minimizes land damage; the vehicle body structure is reasonable, and the bucket and conveyor belt are cleverly designed, effectively solving the problem of cow manure pollution and filling a market gap.

[0023] 4. This utility model realizes remote monitoring and control through the communication module. The operator can obtain information such as the working status of the vehicle, environmental data and the amount of feces collected in real time, and can remotely send instructions to adjust the working mode of the vehicle, reducing the need for on-site personnel and further reducing labor costs.

[0024] 5. The modular design of this utility model makes it easy to disassemble and replace each component, reducing the difficulty and cost of maintenance, while providing convenience for future functional expansion (such as automatic cleaning system, sewage treatment system, etc.), and has strong scalability and market competitiveness.

[0025] 6. This utility model combines an accelerometer gyroscope sensor with a GPS & Beidou positioning system to monitor the vehicle's attitude and position in real time, ensuring stable driving of the vehicle in complex terrain, avoiding safety issues such as rollover or loss of control, and improving the safety and reliability of the vehicle. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the plateau manure collection vehicle of this utility model;

[0027] Figure 2 This is a structural diagram of the bucket lifting device for the plateau manure collection vehicle of this utility model;

[0028] Figure 3 This is a structural diagram of the cart of this utility model plateau manure collection cart;

[0029] Figure 4 This is a diagram showing the internal radar placement of the storage device for the plateau manure collection vehicle of this utility model;

[0030] Figure 5 This is a schematic diagram of the roller brush device of the plateau manure collection vehicle of this utility model;

[0031] In the diagram: 1. Trolley; 2. Bucket; 2-1. Shovel teeth; 2-2. Strip block; 3. Conveyor belt; 4. Wheel; 5. Support plate; 6. Bracket; 7. Motor I; 8. Drive assembly; 8-1. Track II; 8-2. Track III; 8-3. Rotating rod; 9. Support column; 10. Storage box; 11. Telescopic rod I; 12. Horizontal support frame; 13. Camera; 14. Equipment box; 15. LiDAR; 16. Storage box; 17. Telescopic rod II; 18. Roller brush device; 18-1. Motor III; 18-2. Track IV; 18-3. Gear transmission rod I; 18-4. Gear transmission rod II; 18-5. Cylindrical roller brush. Detailed Implementation

[0032] The embodiments of this utility model are described in detail below. Examples of the embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals identify the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0033] like Figure 1-5As shown, an intelligent plateau manure collection vehicle includes a trolley 1 with a support plate, a bucket 2, a conveyor belt 3, and a storage box 10. The bucket 2 is located at the front end of the trolley 1, and the conveyor belt 3 is located behind the bucket 2. A bracket 6 is located at the bottom of the bucket 2. The two sides of the bracket 6 are connected to a drive assembly 8 connected to a motor I 7 fixed on the support plate 5. A telescopic rod II 17 fixed on the side wall of the conveyor belt 3 is connected to the bracket 6. The top of the conveyor belt 3 is fixedly connected to a support column 9 of the support plate 5. The motor II fixed on the support plate 5 is connected to a drive shaft at the bottom of the conveyor belt 3 through a track I. A storage box 10 is located above the support plate 5 and behind the conveyor belt 3. One end of the storage box 10 is hinged to the support plate 5. Specifically, the support plate 5 is provided with a hinge. One end of the storage box 10 is connected to the support plate 5 through the hinge, and the other end is supported by a telescopic rod I 11 fixed on the support plate 5.

[0034] A horizontal support frame 12 is provided on the support plate 5 above the bucket 2. A camera 13 is provided above the horizontal support frame 12. An equipment box 14 is provided above the column in the middle of the support plate 5. A lidar 15 is placed inside the equipment box 14. A temperature and humidity sensor and a pressure sensor are provided at the bottom of the storage box 10. Laser rangefinders are symmetrically provided on the top side wall of the storage box 10. An angle tilt sensor is provided at the bottom of the storage box 10.

[0035] Below the support plate 5 is a storage box 16, which contains a battery, a main control system, an accelerometer / gyroscope sensor, and a GPS / BeiDou positioning sensor. Specifically, the storage box has a mezzanine; the battery is placed below the mezzanine, and the main control system, accelerometer / gyroscope sensor, and GPS / BeiDou positioning sensor are placed above the mezzanine. A temperature and humidity sensor, a pressure sensor, an angle and tilt sensor, a laser rangefinder, a camera 13, a lidar 15, and the GPS / BeiDou positioning sensor are connected to the main control system. The main control system is used to move motor I, motor II, telescopic rod I, and the trolley, causing the bucket to lift, the conveyor belt to drive, the storage box to tilt, and the trolley to travel along a set path. The main control system is connected to a communication module, which transmits information acquired by the main control system to a remote terminal. The temperature and humidity sensor, pressure sensor, camera 13, lidar 15, laser rangefinder, gyroscope / accelerometer sensor, angle and tilt sensor, main control system, and communication module are electrically connected to the battery.

[0036] In this embodiment, the communication module is a remote wireless LoRa communication module. Temperature and humidity sensors, pressure sensors, angle and tilt sensors, laser rangefinders, camera 13, lidar, and accelerometer gyroscope sensors respectively detect fecal temperature data, storage box tilt angle data, fecal volume data, fecal position data, and vehicle attitude data in the storage box and transmit them to the main control system. The main control system sends the above information to a remote host computer through the remote wireless LoRa communication module. The host computer can use the obtained data to remotely provide scientific guidance for the operation of the plateau fecal collection vehicle.

[0037] In this embodiment, the temperature and humidity sensor is a ZIGBEE temperature and humidity sensor; the pressure sensor is an FSR402 resistive thin-film pressure sensor; the angle and tilt sensor is an XL335B angle and tilt sensor; the laser rangefinder is a TOFSense-M laser rangefinder; the accelerometer gyroscope sensor is a GY-521-MPU6050 six-axis accelerometer gyroscope sensor; and the lidar is a SLAMTEC C1 lidar. The above sensors collect the working data and environmental data of the plateau manure collection vehicle, transmit them to the main control system, and connect to the main control system via a communication module. The LoRa point-to-point data transmission terminal is connected to the main control system via a serial port. The remote computer obtains the working data through the LoRa data transmission terminal and the LoRa gateway (model TAS-LT-271 4G-LoRa), and sends the working instructions to the machine through the device, realizing the operator's real-time monitoring and control of the working status of the plateau manure collection vehicle.

[0038] The GY-521-MPU6050 six-axis accelerometer-gyroscope sensor and GPS & Beidou positioning sensor collect spatial motion data and latitude and longitude data during vehicle operation. After data fusion and calculation by the main control system, control quantities are output to ensure the vehicle's direction of travel and driving stability.

[0039] In this embodiment, the XL335B angle tilt sensor can rotate together with the storage box 10. When the target rotation angle is reached, a protection stop is triggered. This can be achieved by collecting the angle data of the storage box rotating via the telescopic rod I, and then processing the data through the main control system.

[0040] ZIGBEE temperature and humidity sensor and FSR402 resistive thin-film pressure sensor are used to collect temperature, humidity and weight data of collected feces.

[0041] The TOFSense-M laser rangefinders are symmetrically arranged on the top inner wall of the storage tank 10. The two TOFSense-M laser rangefinders form a measuring plane. When the distance measured by the TOFSense-M laser rangefinder is less than the diagonal length of the storage tank 10, it indicates that the amount of feces collected has reached the rated capacity. At this time, the distance data obtained by the TOFSense-M laser rangefinder and the pressure data obtained by the FSR402 resistive thin-film pressure sensor are transmitted to the main control system. After data fusion calculation, the main control system confirms that the amount of feces collected has reached the rated capacity, controls motor I and motor II to stop working, and starts telescopic rod I to start working, thus initiating the feces dumping process.

[0042] In this embodiment, the conveyor belt 3 is a grid-type conveyor belt, installed at the rear end of the bucket 2 via a vertical support, for receiving the manure collected by the bucket 2. The conveyor belt 3 itself has an angle, tending towards the storage box 10. When the cow manure is transported to the conveyor belt 3, it rises with the conveyor belt and, under the action of gravity, falls into the storage box 10 after reaching its highest point.

[0043] The vehicle includes a suspension system, a frame, and a power unit. The suspension system has four wheels 4, and the axles of the wheels 4 are connected to the power unit on the frame via tracks V. The top of the suspension system is connected to a support plate, and the power unit is connected to the main control system.

[0044] The drive assembly 8 includes track II 8-1, track III 8-2, and rotating rod 8-3. The motor I 7 is connected to the rotating rod 8-3 via track II 8-1. The rotating rod 8-3 is connected to the end of the bracket 6 via track III 8-2. One end of the rotating rod 8-3 is rotatably connected to the trolley 1, and the other end is rotatably connected to the side wall of the conveyor belt 3. The motor I 7 drives the rotating rod 8-3 to rotate via track II 8-1, and the rotating rod 8-3 drives the bracket 6 to move via track III 8-2 for lifting and lowering the bucket 2.

[0045] The telescopic rods I11 and II17 are hydraulic rods.

[0046] Two sets of roller brush devices 18 are provided above the bucket 2. Each roller brush device 18 includes a motor III 18-1, a track IV 18-2, a gear transmission rod I 18-3, a gear transmission rod II 18-4, and a cylindrical roller brush 18-5. The motor III 18-1 is fixed to the side wall of the bucket 2. One end of the track IV 18-2 is connected to the output shaft of the motor III 18-1, and the other end is connected to the transmission rod end of the gear transmission rod I 18-3. The gear end of the gear transmission rod I 18-3 meshes with the gear end of the gear transmission rod II 18-4. The transmission rod end of gear transmission rod II18-4 is rotatably connected to the bucket 2. A cylindrical roller brush 18-5 is provided on the outer side of the transmission rod end of gear transmission rod II18-4. Motor III18-1 is connected to the main control system. Through the meshing of gear transmission rod I18-3 and gear transmission rod II18-4, when motor III18-1 drives gear transmission rod I18-3 to rotate laterally through track IV18-2, it is converted into the torsional motion of gear transmission rod II18-4, thereby realizing the rotation of cylindrical roller brush 18-5 for cleaning manure.

[0047] The front end of the bucket 2 is equipped with shovel teeth 2-1, and the bucket 2 is provided with triangular plastic strip blocks 2-2. The triangular plastic strip blocks 2-2 are made of thin plastic sheets. Their function is to make the cow manure more slippery when it enters from the outside to the inside, prevent it from sticking to the shovel mouth, and prevent the cow manure from falling out, so as to achieve the function of "only in and not out".

[0048] The bucket 2 is made of stainless steel and coated with Teflon, which effectively reduces the risk of fecal adhesion and clogging of the shovel opening, while also facilitating cleaning. Simultaneously, both the bucket 2 and the conveyor belt 3 are coated with anti-fecal adhesion coatings or lubricants to prevent fecal adhesion. The usage process of this utility model is as follows: The trolley 1 moves, and after the camera 13 and lidar 15 on the trolley detect the location of the fecal matter, they transmit the location information to the main control system. The main control system drives the trolley 1 to move. During this process, the main control system controls the trolley 1 to move smoothly based on information from the accelerometer gyroscope sensor and the GPS & Beidou positioning sensor. When the trolley 1 reaches the fecal matter location, the bucket 2 picks up the fecal matter, and the main control system activates motor I 7 and telescopic rod II 17. Motor I 7 moves the bracket 6 upwards through the drive assembly 8. Here, telescopic rod II... 17 retracts, bucket 2 rises, collecting manure into bucket 2; simultaneously, the main control system drives motor II to operate, conveyor belt 3 starts, bucket 2 collects manure onto conveyor belt 3, conveyor belt 3 moves upward to collect manure into storage tank 10; after the temperature and humidity sensor, pressure sensor and laser rangefinder in storage tank 10 detect that storage tank 10 is full, they transmit the information to the main control system, the main control system controls trolley 1 to move to the manure dumping area, and then the main control system drives telescopic rod I11 to operate, causing storage tank 10 to tilt, completing the dumping of manure.

Claims

1. An intelligent high-altitude manure collection vehicle, characterized in that, The system includes a trolley with a support plate, a bucket, a conveyor belt, and a storage box. The trolley has a bucket at its front end and a conveyor belt at its rear. The bottom of the bucket has a bracket, and both sides of the bracket are connected to a drive assembly connected to a motor I fixed to the support plate. A telescopic rod II fixed to the side wall of the conveyor belt is connected to the bracket. The top of the conveyor belt is fixedly connected to a support column of the support plate. The motor II fixed to the support plate is connected to a drive shaft at the bottom of the conveyor belt through a track I. A storage box is located above the support plate and behind the conveyor belt. One end of the storage box is hinged to the support plate, and the other end is supported by the telescopic rod I fixed to the support plate. A horizontal support frame is installed on the support plate above the bucket. A camera is installed above the horizontal support frame. An equipment box is installed above the column in the middle of the support plate. A lidar is placed inside the equipment box. Temperature and humidity sensors and pressure sensors are installed at the bottom of the storage box. Laser rangefinders are symmetrically installed on the top side wall of the storage box. An angle tilt sensor is installed at the bottom of the storage box. Below the support plate is a storage box containing a battery, a main control system, an accelerometer / gyroscope sensor, and a GPS & BeiDou positioning sensor. A temperature and humidity sensor, a pressure sensor, an angle / tilt sensor, a laser rangefinder, a camera, and a lidar are also included. The accelerometer / gyroscope sensor and the GPS & BeiDou positioning sensor are connected to the main control system, which is used for the movement of motor I, motor II, telescopic rod I, telescopic rod II, and the trolley. The main control system is connected to a communication module, which transmits information acquired by the main control system to a remote location. The temperature and humidity sensor, pressure sensor, camera, lidar, laser rangefinder, accelerometer / gyroscope sensor, angle / tilt sensor, main control system, and communication module are electrically connected to the battery.

2. The intelligent plateau manure collection vehicle according to claim 1, characterized in that, The vehicle includes a suspension system, a frame, and a power unit. The suspension system has four wheels, and the axles of the wheels are connected to the power unit on the frame via tracks V. The top of the suspension system is connected to a support plate, and the power unit is connected to the main control system.

3. The intelligent plateau manure collection vehicle according to claim 1, characterized in that, The drive assembly includes track II, track III, and a rotating rod. Motor I is connected to the rotating rod via track II, and the rotating rod is connected to the end of the bracket via track III. One end of the rotating rod is rotatably connected to the trolley, and the other end is rotatably connected to the side wall of the conveyor belt. Motor I drives the rotating rod to rotate via track II, and the rotating rod drives the bracket to move via track III for bucket lifting and lowering.

4. The intelligent plateau manure collection vehicle according to claim 1, characterized in that, Two sets of roller brush devices are provided above the bucket. Each roller brush device includes a motor III, a track IV, a gear transmission rod I, a gear transmission rod II, and a cylindrical roller brush. The motor III is fixed to the side wall of the bucket. One end of the track IV is connected to the output shaft of the motor III, and the other end is connected to the transmission rod end of the gear transmission rod I. The gear end of the gear transmission rod I meshes with the gear end of the gear transmission rod II. The transmission rod end of the gear transmission rod II is rotatably connected to the bucket. A cylindrical roller brush is provided on the outer side of the transmission rod end of the gear transmission rod II. The motor III is connected to the main control system.

5. The intelligent plateau manure collection vehicle according to claim 1, characterized in that, The front end of the bucket is equipped with shovel teeth, and the inside of the bucket is equipped with triangular plastic strip blocks.

6. The intelligent plateau manure collection vehicle according to claim 1, characterized in that, The surface of the bucket is coated with a Teflon coating.

7. The intelligent plateau manure collection vehicle according to claim 1, characterized in that, The telescopic rod I and telescopic rod II are hydraulic rods.

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