Unmanned multifunctional excrement pushing equipment

Abstract

The utility model discloses unmanned multifunctional excrement pushing equipment for cleaning excrement in a breeding house in the field of animal husbandry industry. The unmanned multifunctional excrement pushing equipment comprises a machine body, a drive-by-wire chassis system, an excrement pushing device, a lifting guide rail device, an unmanned navigation system and a sterilization box, according to the system, automatic manure water cleaning work is performed in a single breeding house or multiple breeding houses, no personnel intervention is needed in the working process, pasture manpower resources are liberated, the situation that personnel are polluted by bacteria in manure is avoided, automatic operation work, automatic turning obstacle crossing and braking are performed through instructions such as a working route and working time set in the equipment in advance, and the working efficiency is improved. The intelligent pasture has the advantages that the intelligent pasture can be automatically parked and charged, execution of working instructions of all nodes and completion of working tasks can be completed, original fuel oil equipment is replaced with clean electric equipment, energy consumption of the pasture is reduced, and the intelligent pasture is favorable for achieving the working tasks such as carbon emission reduction, cost reduction and efficiency improvement.

Description

Technical Field

[0001] This utility model belongs to the technical field of manure pushing equipment in the livestock industry, and specifically relates to an unmanned multi-functional manure pushing device. Background Technology

[0002] Currently, for routine manure pushing on ranches, small and family ranches mostly use employees to push manure with shovels or spades, while large and medium-sized ranches generally use self-made manure pushing boards, which are then mounted on loaders or tractors and manually operated. There are generally three types of manure pushing vehicles used on ranches in China: First, those using chain scrapers. These require specific civil engineering conditions for the animal pens and are custom-made. Once installed, they cannot be moved to other pens and must be used independently, resulting in high costs. Second, manually operated loaders using the loader's bucket to push manure. This method is energy-intensive, noisy, and produces significant exhaust pollution. Third, the tractor- or forklift-powered material pushing vehicles currently used on ranches. All three types of manure pushing vehicles require manual operation; the equipment cannot complete the pushing work autonomously and has a low level of automation. Furthermore, due to the poor working environment, odor, and bacteria associated with manure cleaning, ranches face difficulties in recruiting staff, resulting in high employee turnover and impacting ranch production and environmental impact assessments.

[0003] Currently, there are no autonomous, remotely controlled, unmanned manure-pushing robots in domestic ruminant farms. Therefore, it is necessary to design an autonomous, highly compatible, unmanned, automated manure-pushing robot. Utility Model Content

[0004] The purpose of this invention is to provide an unmanned, multi-functional manure-pushing device to solve the problems existing in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an unmanned, multi-functional manure-pushing device.

[0006] Including the fuselage;

[0007] Wire-controlled chassis system: The wire-controlled chassis system is located on one side of the upper end of the machine body. The wire-controlled chassis system is used to realize the forward, backward, turning, emergency stop and parking functions of the whole machine. When the pushing device is working, it provides sufficient driving force to complete the manure cleaning task.

[0008] Manure pushing device: The manure pushing device is used to push the manure water in the pen horizontally or laterally. The manure pushing device is installed on the machine body and is located on one side of the upper end of the online control chassis system.

[0009] Lifting guide rail device: The lifting guide rail device is used to realize the lifting, lowering, horizontal pushing or side pushing operation of the manure pushing device; when the equipment is not in the manure pushing operation state, the manure pushing device is lifted by the lifting guide rail device to reduce the driving resistance and improve the obstacle crossing ability of the equipment; when the equipment is in the manure pushing operation state, the manure pushing device is controlled by the lifting guide rail device to lower to the ground, and the manure pushing device will start pushing manure again. The lifting guide rail device is installed on the machine body and is located on the other side of the upper end of the online control chassis system.

[0010] Unmanned navigation system: The unmanned navigation system is used to realize the establishment of the pasture pen map, the planning of the equipment driving route, the adjustment of the driving route, the setting and adjustment of work instruction markers, the identification of obstacles, deceleration, and braking functions. The unmanned navigation system is installed on the machine body and set in the middle of the upper end of the wire control chassis system.

[0011] Sterilization box: Sterilization powder, liquid and other sterilization agents are added to the sterilization box to inhibit the reproduction and spread of fecal bacteria and viruses. When spraying sterilization agents, the wire-controlled chassis system provides sufficient load and power to complete the sterilization of the pen. The sterilization box is installed on the machine body and located on one side of the unmanned driving navigation system.

[0012] As a further optimization of this technical solution, the drive-by-wire chassis system includes a lithium battery, a ROS control system, a drive motor, a parking system, and anti-skid tires. The lithium battery, ROS control system, drive motor, and parking system are electrically connected by wires. The anti-skid tires are assembled with the drive motor to realize the forward, reverse, steering, braking, and parking functions of the vehicle body.

[0013] As a further optimization of this technical solution, the manure pushing device includes a manure pushing shovel, a wear-resistant plate, a sweeping roller brush, a baffle, and a roller brush drive motor. The wear-resistant plate is installed at the lower end of the manure pushing shovel, the manure pushing shovel is set on one side of the lifting guide rail device, the sweeping roller brush is located below the manure pushing shovel, the output end of the roller brush drive motor is connected to one end of the sweeping roller brush, and the baffle is installed on both sides of the manure pushing shovel to protect the roller brush drive motor.

[0014] As a further optimization of this technical solution, the lifting guide rail device includes a lifting electric cylinder, a lifting frame, a track, and a rotating electric cylinder. The track is arranged in two sets and the upper and lower ends are respectively fixed to the machine body. The lifting frame is slidably sleeved on the outside of the track. The lifting electric cylinder is fixed to the machine body and its output end is connected to the lifting frame. The other end of the lifting frame is connected to the baffle of the manure pushing device.

[0015] As a further optimization of this technical solution, the unmanned navigation system includes an RTK system, an inertial navigation system, ultrasonic radar and lidar, and a vision system. The RTK system, inertial navigation system, ultrasonic radar and lidar, and vision system are electrically connected to each other via wires, and the unmanned navigation system is electrically connected to the fuselage via wires.

[0016] As a further optimization of this technical solution, the device body also includes a control panel and an automatic charging brush installed on one side of it, and a manual charging interface is also installed on the device body, which is located on the upper side of the control panel.

[0017] As a further optimization of this technical solution, the sterilization box includes a box body and a box cover. One end of the sterilization box is connected to a spray pipe through a pipeline, and a spray nozzle is installed at one end of the spray pipe.

[0018] Compared with the prior art, the beneficial effects of this utility model are:

[0019] This is a multi-functional unmanned manure pushing device, an intelligent unmanned driving equipment product used in ruminant ranches in the livestock industry. Through the coordinated operation of the machine body, wire-controlled chassis system, manure pushing device, lifting guide rail device, wire-controlled chassis system, unmanned navigation system, sterilization box, etc., the equipment can achieve a free and flexible working state without the need for full manual operation. By scanning and creating a ranch map through the navigation system, the pen and working route that need to be worked are planned, and the instructions set in the route can enable the equipment to work at the designated location without human control. During the driving process, if there are obstacles in the driving route, the equipment can avoid obstacles or brake automatically. When the equipment self-checks that the battery is low, it will automatically return to the charging position to park and recharge. The wire-controlled chassis system can complete all the designed working states.

[0020] Compared with existing technologies, this utility model of unmanned multifunctional manure pushing equipment has the following advantages:

[0021] The equipment frees up manpower, avoids workers from working in the smelly environment of feces, and also avoids the risk of infection from bacteria in animal feces. It directly improves the epidemic prevention and safety of farm employees and solves the problems of difficulty in recruiting manpower, high staff turnover rate, and impact on farm production and environmental impact assessment results.

[0022] The equipment uses clean electricity as its power source, has high overall power and efficiency, and produces no air or noise pollution. It does not cause stress to the animals in the enclosures, nor does it hinder their feeding or movement. It can significantly reduce pollution and carbon emissions for the ranch.

[0023] The equipment's operation is not limited by the construction of animal pens. When all the animals have been removed from the pens and the manure-pushing work is no longer needed, the working route can be adjusted through the navigation system, allowing the equipment to continue serving other pens. This achieves multi-purpose functionality, reduces equipment idle time, and saves on farm equipment costs.

[0024] The frequency of manure pushing can be adjusted according to the season. During the hot summer months, the frequency can be increased to reduce the time manure spends fermenting and deteriorating in the pens, thus lowering the chance of disease. In the cold winter months, the frequency can be reduced to match the season, temperature, and pasture management practices.

[0025] The equipment can push manure in the front and spray sterilization powder or chemicals in the rear, performing two tasks in one operation. Compared with manual operation, it reduces the time spent changing equipment and starting up twice, significantly improving work efficiency. Attached Figure Description

[0026] Figure 1 This is a front structural diagram of the present invention;

[0027] Figure 2 This is a schematic diagram of the rear structure of the present invention;

[0028] Figure 3 This is a schematic diagram of the electrical structure of the chassis drive-by-wire system of this utility model;

[0029] Figure 4 This is a schematic diagram of the unmanned navigation system of this utility model.

[0030] In the diagram: 11. Track; 12. Unmanned navigation system; 13. Lifting frame; 14. Spraying pipe; 15. Body; 16. Sterilization chamber; 19. Wear-resistant plate; 20. Roller brush drive motor; 21. Automatic charging brush; 22. Control panel; 23. Roller brush; 24. Baffle; 25. Manure pusher; 26. Lifting electric cylinder; 27. Rotary electric cylinder; 28. Manual charging interface. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Example 1

[0033] Please see Figures 1 to 4This embodiment provides a technical solution: an unmanned multi-functional manure pushing device, including a body 15; a wire-controlled chassis system; a manure pushing device; a lifting guide rail device; an unmanned navigation system 12; and a sterilization chamber 16;

[0034] The wire-controlled chassis system is located on one side of the upper end of the machine body 15. The wire-controlled chassis system is used to realize the forward, backward, turning, emergency stop and parking functions of the whole machine. When the pushing device is working, it provides sufficient driving force to complete the manure cleaning task.

[0035] The manure pushing device is used to push the manure in the pen horizontally or laterally. The manure pushing device is installed on the machine body 15 and is located on the upper side of the online control chassis system.

[0036] The lifting guide rail device is used to realize the lifting, lowering, horizontal pushing or side pushing operation of the manure pushing device; when the equipment is not in the manure pushing operation state, the manure pushing device is lifted by the lifting guide rail device to reduce the driving resistance and improve the equipment's obstacle crossing ability; when the equipment is in the manure pushing operation state, the manure pushing device is controlled by the lifting guide rail device to lower to the ground, and the manure pushing device will start pushing manure again. The lifting guide rail device is installed on the machine body 15 and is located on the other side of the upper end of the online control chassis system.

[0037] The unmanned navigation system 12 is used to realize the establishment of the equipment's map in the pasture pen, the planning of the equipment's driving route, the adjustment of the driving route, the setting and adjustment of the work instruction markers, the identification of obstacles, deceleration, and braking functions. The unmanned navigation system 12 is installed on the body 15 and is located in the middle of the upper part of the wire control chassis system.

[0038] Sterilization powder and liquid sterilization agents are added to the sterilization box 16 to inhibit the proliferation and spread of fecal bacteria and viruses. During sterilization spraying, the wire-controlled chassis system provides sufficient load and power to complete the sterilization work of the pen. The sterilization box 16 is installed on the body 15 and located on one side of the unmanned navigation system 12.

[0039] More specifically, in this embodiment: in actual use, this utility model patent is an intelligent manure cart product used in ruminant ranches, specifically:

[0040] 1. The unmanned vehicle can drive to the designated location to work using the pre-set instructions of the drive-by-wire chassis system. During the driving process, if there are obstacles on the driving route, the equipment can automatically avoid obstacles or brake.

[0041] 2. When the device's self-check shows insufficient battery power, it will automatically return to the charging position to park and charge, which is mainly achieved through the autonomous driving navigation system 12;

[0042] 3. Functions of the drive-by-wire chassis system: It can complete various designed working states and realize the forward, backward and turning functions of the whole machine. The manure pushing device uses the intelligent control system to provide power to the battery pack of the vehicle to drive the electric cylinder to realize various working actions of pushing manure, which is achieved through the lifting guide rail device.

[0043] 4. Unmanned driving navigation system 12. Enables the unmanned driving function of the equipment, which can effectively realize the equipment's forward, backward, turning, obstacle avoidance and automatic parking and charging functions;

[0044] 5. Manure pushing device: Located on the front side of the machine body 15, the manure pushing device realizes the manure shoveling and pushing function. The intelligent control system drives the electric cylinder to complete the working states of left-side rotation pushing, front-side pushing, material cleaning, and up and down position movement.

[0045] 6. Sterilization box with 16 functions: Because animal feces contain a large number of bacteria and viruses, and ruminants often lie on the feces, in order to reduce the incidence of animal diseases, a certain amount of sterilization drugs are sprayed during the process of pushing the feces to inhibit the reproduction and spread of bacteria and viruses.

[0046] Market research indicates that domestic ranches generally offer three types of manure-pushing carts: First, those using chain scrapers for manure scraping require advance planning during barn construction, resulting in high infrastructure costs. Second, manually driven loaders that enter the barn for manure pushing, which are expensive, have limited operating space, and are noisy. Third, the currently used feed carts, modified from tractors or forklifts, are noisy and can negatively impact the animals' eating and resting in the barn. Therefore, this invention, through the technical solution of Embodiment 1, addresses the following issues: First, the high cost and need for advance planning when using chain scrapers for manure scraping; second, the expensive and noisy nature of manually driven loaders entering the barn; and third, the noise from the currently used feed carts modified from tractors or forklifts, which can negatively impact the animals' eating and resting in the barn.

[0047] Example 2:

[0048] Based on the above embodiments:

[0049] Please see Figures 1-4 The drive-by-wire chassis system in Embodiment 1 is disclosed as follows: The drive-by-wire chassis system includes:

[0050] The system includes a lithium battery, a ROS control system, a drive motor, a parking system, and anti-skid tires. The lithium battery, ROS control system, drive motor, and parking system are electrically connected by wires. The anti-skid tires are assembled with the drive motor to realize the vehicle's forward, reverse, steering, braking, and parking functions.

[0051] More specifically, in this embodiment: In actual use, the lithium battery is a 48V 120AH lithium battery. The parking system includes a VCU electronic control system and a JCDBL60150-2E driver. The 48V 120AH lithium battery, VCU electronic control system, JCDBL60150-2E driver, and ROS control system are sequentially and electrically connected via wires. The JCDBL60150-2E driver is electrically connected to the lifting rail device via wires. Automatic charging can be achieved by contacting the charger through the automatic charging brush 21. When the vehicle detects insufficient power during operation, it will also terminate operation and automatically return to the charging area for charging with the assistance of the autonomous driving navigation system 12.

[0052] Example 3:

[0053] Based on the above embodiments:

[0054] Please see Figures 1-4 The manure-pushing device in Embodiment 1 is disclosed as follows: The manure-pushing device includes:

[0055] The manure pushing device includes a manure pushing shovel 25, a wear-resistant plate 19, a sweeping roller brush 23, a baffle 24, and a roller brush drive motor 20. The wear-resistant plate 19 is installed at the lower end of the manure pushing shovel 25, which is located on one side of the lifting guide rail device. The sweeping roller brush 23 is located below the manure pushing shovel 25. The output end of the roller brush drive motor 20 is connected to one end of the sweeping roller brush 23. The baffle 24 is installed on both sides of the manure pushing shovel 25 to protect the roller brush drive motor 20.

[0056] More specifically, in this embodiment: the manure shovel 25 is driven by the lifting guide rail device to shovel and push manure, and the wear-resistant plate 19 is designed to have good wear resistance in contact with the ground; the cleaning roller brush 23 is located below the manure shovel 25, and the cleaning roller brush 23 is driven to rotate by the roller brush drive motor 20 to wash and clean the manure on the ground after the manure shovel 25 has worked, and to realize the manure pushing work on the planned path in the pen.

[0057] Example 4:

[0058] Based on the above embodiments: Please refer to Figures 1-4 The lifting guide rail device in Embodiment 1 is disclosed as follows: The lifting guide rail device includes:

[0059] The lifting electric cylinder 26, the lifting frame 13, the track 11 and the rotating electric cylinder 27 are provided. The track 11 is provided in two sets and the upper and lower ends are fixed on the machine body 15 respectively. The lifting frame 13 is slidably sleeved on the outside of the track 11. The lifting electric cylinder 26 is fixed on the machine body 15 and its output end is connected to the lifting frame 13. The other end of the lifting frame 13 is connected to the baffle 24 of the manure pushing device.

[0060] More specifically, in this embodiment: in actual use, the lifting electric cylinder 26 drives the manure pushing device to be lifted and lowered; the lifting electric cylinder 26 drives the manure pushing shovel 25 to move up and down to drive the manure pushing; the rotating electric cylinder 27 rotates the manure pushing shovel 25 to drive the manure pushing to load and unload; the baffle 24 increases the strength of the structure and the stability of the connection.

[0061] Example 5:

[0062] Based on the above embodiments:

[0063] Please see Figures 1-4 The unmanned navigation system 12 in Embodiment 1 is disclosed as follows: The unmanned navigation system 12 includes:

[0064] The unmanned navigation system 12 includes an RTK system, an inertial navigation system, an ultrasonic radar and a lidar, and a vision system. The RTK system, the inertial navigation system, the ultrasonic radar and lidar, and the vision system are electrically connected to each other via wires. The unmanned navigation system 12 is also electrically connected to the fuselage 15 via wires.

[0065] More specifically, the RTK system and inertial navigation system are installed on the body 15. The unmanned navigation system 12 is used to realize the establishment of the equipment's map in the ranch pen, the planning of the equipment's driving route, the adjustment of the driving route, the setting and adjustment of work instruction markers, the identification of obstacles, deceleration, and braking functions. The unmanned navigation system 12 is installed on the body 15 and set in the upper middle part of the wire-controlled chassis system, and controls the body 15 to drive, turn, return, and enter the warehouse for charging actions inside and outside the ranch pen according to the planned route.

[0066] It is worth noting that the body 15 also includes a control panel 22 and an automatic charging brush 21 installed on one side. The body 15 is also equipped with a manual charging interface 28, which is located above the control panel 22. When the body 15 is on the route planned by the navigation system, it can reverse into a parking space. The automatic charging brush 21 contacts the charger to achieve automatic charging.

[0067] It is worth noting that the sterilization chamber 16 includes a chamber body and a chamber lid, and the sterilization chamber 16 is a stainless steel sterilization chamber. One end of the sterilization chamber 16 is connected to a spray pipe 14 through a pipe, and a spray nozzle is installed at one end of the spray pipe 14.

[0068] In practical use, because animal feces contain a large number of bacteria and viruses, and ruminants often lie on the feces, in order to reduce the incidence of disease in animals, a certain amount of sterilizing drugs are sprayed during the process of pushing the feces to inhibit the reproduction and spread of bacteria and viruses.

[0069] The working principle of this unmanned multi-functional manure pushing device is as follows:

[0070] The machine travels unmanned to a designated location to work using pre-set instructions via a wire-controlled chassis system. During travel, it can automatically avoid obstacles or brake if they appear on the route. The unmanned navigation system 12 automatically returns to the charging position for parking and charging, enabling the machine to operate autonomously. This system effectively achieves forward, backward, turning, obstacle avoidance, and automatic parking and charging. The wire-controlled chassis system can complete all designed operating states, enabling the machine to move forward, backward, and turn. The manure-pushing device uses an intelligent control system to power the battery pack on the machine body, driving the electric cylinder to perform various manure-pushing actions. Specifically, this is achieved through a lifting guide rail device. The manure-pushing device performs manure-shoveling and pushing functions. The intelligent control system drives the electric cylinder to perform left-side rotation pushing, front-side pushing, material cleaning, and vertical movement. The sterilization box 16 sprays sterilizing agents during the manure-pushing process to inhibit the proliferation and spread of bacteria and viruses.

[0071] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model.

Claims

1. An unmanned, multi-functional manure-pushing device, characterized in that: Including the fuselage (15); Line-controlled chassis system: The line-controlled chassis system is set on one side of the upper end of the machine body (15). The line-controlled chassis system is used to realize the forward, backward, turning, emergency stop and parking functions of the whole machine. When the pushing device is working, it provides sufficient driving force to complete the manure cleaning task. Manure pushing device: The manure pushing device is used to push the manure water in the pen horizontally or sideways. The manure pushing device is installed on the machine body (15) and is located on the upper side of the online control chassis system. Lifting guide rail device: The lifting guide rail device is used to realize the lifting, lowering, horizontal pushing or side pushing operation of the manure pushing device; when the equipment is not in the manure pushing operation state, the manure pushing device is lifted by the lifting guide rail device to reduce the driving resistance and improve the equipment's obstacle crossing ability; When the equipment is in the manure pushing working state, the manure pushing device is controlled by the lifting guide rail device to descend to the ground, and the manure pushing device starts to push manure again. The lifting guide rail device is installed on the machine body (15) and is located on the other side of the upper end of the online control chassis system. Unmanned navigation system (12): The unmanned navigation system (12) is used to realize the establishment of the equipment in the pasture pen map, the planning of the equipment driving route, the adjustment of the driving route, the setting and adjustment of the work instruction markers, the identification of obstacles, deceleration, and braking functions. The unmanned navigation system (12) is installed on the body (15) and set in the middle of the upper end of the online control chassis system. Sterilization box (16): Sterilization powder and liquid sterilization drugs for sterilizing the pen are added to the sterilization box (16) to inhibit the reproduction and spread of fecal bacteria and viruses. When spraying sterilization, the wire-controlled chassis system provides sufficient load and power to complete the sterilization of the pen. The sterilization box (16) is installed on the body (15) and located on one side of the unmanned driving navigation system (12).

2. The unmanned multi-functional manure-pushing device according to claim 1, characterized in that: The drive-by-wire chassis system includes a lithium battery, a ROS control system, a drive motor, a parking system, and anti-skid tires. The lithium battery, ROS control system, drive motor, and parking system are electrically connected by wires. The anti-skid tires are assembled with the drive motor to realize the forward, reverse, steering, braking, and parking functions of the vehicle body.

3. The unmanned multi-functional manure-pushing device according to claim 2, characterized in that: The manure pushing device includes a manure pushing shovel (25), a wear-resistant plate (19), a cleaning roller brush (23), a baffle (24), and a roller brush drive motor (20). The wear-resistant plate (19) is installed at the lower end of the manure pushing shovel (25). The manure pushing shovel (25) is located on one side of the lifting guide rail device. The cleaning roller brush (23) is located below the manure pushing shovel (25). The output end of the roller brush drive motor (20) is connected to one end of the cleaning roller brush (23). The baffle (24) is installed on both sides of the manure pushing shovel (25) to protect the roller brush drive motor (20).

4. The unmanned multi-functional manure-pushing device according to claim 3, characterized in that: The lifting guide rail device includes a lifting electric cylinder (26), a lifting frame (13), a track (11), and a rotary electric cylinder (27). The track (11) is arranged in two sets and the upper and lower ends are respectively fixed on the machine body (15). The lifting frame (13) is slidably sleeved on the outside of the track (11). The lifting electric cylinder (26) is fixed on the machine body (15) and its output end is connected to the lifting frame (13). The other end of the lifting frame (13) is connected to the baffle (24) of the manure pushing device.

5. The unmanned multi-functional manure-pushing device according to claim 4, characterized in that: The unmanned navigation system (12) includes an RTK system, an inertial navigation system, an ultrasonic radar and a lidar, and a vision system. The RTK system, the inertial navigation system, the ultrasonic radar and the lidar, and the vision system are electrically connected to each other via wires. The unmanned navigation system (12) is electrically connected to the fuselage (15) via wires.

6. The unmanned multi-functional manure-pushing device according to claim 5, characterized in that: The body (15) also includes a control panel (22) and an automatic charging brush (21) installed on one side of it. The body (15) is also equipped with a manual charging interface (28), which is located on the upper side of the control panel (22).

7. The unmanned multi-functional manure-pushing device according to claim 6, characterized in that: The sterilization box (16) includes a box body and a box cover. One end of the sterilization box (16) is connected to a spray pipe (14) through a pipe, and a spray nozzle is installed at one end of the spray pipe (14).

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