Master-slave cooperative cleaning robot system
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Solution Overview
Problem
Current cleaning technologies for pigpen wastewater management are inefficient, leading to high water consumption and environmental pollution, as they either consume excessive water or require multiple washing facilities, and lack effective wastewater recovery systems, posing challenges for pig farms with limited manpower and environmental concerns.
Innovation Solution
An autonomous cleaning robot device comprising a master machine with a multiwheel moving table, a self-propelled cleaning head, a traction hose, and a robot arm, which uses a suction inlet to collect and compress pig manure into blocks, reducing water usage and enabling autonomous navigation and waste management within pigpen environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional high-pressure washing manipulator is used to wash pigpen floor, then washing effectiveness is improved, but water consumption increases and sanitation problems occur when pigs are present
Solution Approach 1:
The cleaning robot autonomously navigates the pigpen, performs cleaning operations, and returns to base for waste discharge without human intervention. The system self-manages the entire cleaning cycle including navigation, cleaning execution, and waste removal, eliminating the need for manual operation while reducing water consumption through controlled vacuum-based cleaning
Solution Approach 2:
The system uses vacuum suction technology to collect waste and dirty water from the pigpen floor. The vacuum cleaner head creates negative pressure to draw in contaminants through hoses, providing effective cleaning with controlled fluid dynamics rather than high-pressure water spraying, thereby reducing overall water consumption
2Area of stationary object
If multiple washing facilities are deployed to cover multi-row pigpens, then cleaning coverage is improved, but device complexity and cost increase
Solution Approach 1:
The cleaning system is divided into modular components: autonomous navigation unit, vacuum cleaning head, waste storage container, and communication systems. This segmentation allows a single robot to perform multiple functions and be easily deployed across multiple pigpen rows without requiring proportional increases in system complexity
Solution Approach 2:
The cleaning robot is designed as a universal platform that can clean various types of pigpen floors (concrete, slatted, elevated) and handle different waste types. A single multi-functional robot replaces the need for multiple specialized washing facilities, reducing overall system complexity while maintaining comprehensive cleaning coverage
3Quantity of substance
If treated wastewater is pumped back for reuse, then water consumption is reduced, but secondary pollution and nozzle blockage occur
Solution Approach 1:
The system extracts and removes waste materials (feces, urine, feed remnants) from the pigpen environment using vacuum suction. By completely removing contaminants rather than recycling them, the system avoids the problems of wastewater recirculation including nozzle blockage and secondary pollution, while still achieving water conservation through efficient waste collection
Solution Approach 2:
The system converts the harmful waste materials in the pigpen into a manageable form for centralized disposal. By vacuuming up feces, urine, and feed remnants and collecting them in storage containers, the system transforms environmental hazards into contained waste that can be safely removed and disposed of, preventing both pollution and blockage issues
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The autonomous cleaning robot effectively reduces wastewater treatment volumes, minimizes water consumption, and prevents secondary pollution by using a telescopic hose to manage friction and navigate through tight spaces, enhancing environmental sanitation and reducing manual labor in pig farming.
Implementation Method 1
a suction inlet connected to a dirt container through an inflow route
Implementation Method 2
following the travel direction of cleaning slave to reduce the resistance resulted from the friction between the traction hose and the bottom surface
Data Source
AI summary
The present invention provides an autonomous cleaning robot device for cleaning in the animal husbandry environment. The cleaning robot is composed of a master machine (autonomous moving controller) and a slave machine (self-propelled cleaning head). The master machine and the slave machine are connected by a robotic arm and a traction hose. The robotic arm can adapt to the movement of the cleaning slave machine to reduce the resistance and secondary pollution or damage caused by friction between the traction cable and the ground during the movement. The traction hose combined with the robotic arm allows slave machine to enter and exit the fence without opening and closing the door to improve efficiency. In the treatment of dirt, the excrement is collected by a suction driving device, and is centrally collected in a storage tank, and then is compacted into blocks by the excrement compression device.