阅读说明：本技术 养殖场的清洗机器人及其工作方法 (Cleaning robot for farm and working method thereof ) 是由 温振威 李臻 麦焯伟 赵明华 吕晓能 孟贤德 李忠华 梁煜胜 于 2021-02-09 设计创作，主要内容包括：本发明涉及一种养殖场的清洗机器人及其工作方法,养殖场的清洗机器人包括主机。主机包括机身、装设于机身上的第一转动组件、装设于第一转动组件上的第二转动组件、装设于第二转动组件上的喷枪、以及装设于机身上的行走组件。用于对养殖场进行清洗消毒处理时,主机放置于养殖场中,通过行走组件带动主机在养殖场内自由活动,主机在养殖场自由活动过程中,通过第一驱动机构驱动第一塔台在机身顶面上转动,第一塔台转动带动第二驱动机构转动,第二驱动机构驱动第二塔台转动,第二塔台转动带动喷枪转动,这样能实现喷枪将清洗液较大范围地喷射到养殖场的顶面、地面或墙面上,自动化程度较高,能降低人力成本,清洗效果较好,清洗效率较高。(The invention relates to a cleaning robot for a farm and a working method thereof. The host computer includes the fuselage, install the first rotating assembly on the fuselage, install the second rotating assembly on first rotating assembly, install the spray gun on the second rotating assembly and install the walking subassembly on the fuselage. When being used for carrying out cleaning and disinfecting to the plant, the host computer is placed in the plant, drive the host computer free activity in the plant through the walking subassembly, the host computer is at the plant free activity in-process, rotate on the fuselage top surface through first driving mechanism drive first pylon, first pylon rotates and drives the rotation of second actuating mechanism, second actuating mechanism drive second pylon rotates, the second pylon rotates and drives the spray gun and rotate, can realize like this that the spray gun sprays the top surface of plant with the washing liquid great scope, on ground or the wall, degree of automation is higher, can reduce the human cost, the cleaning performance is better, cleaning efficiency is higher.)

1. A cleaning robot for a farm, characterized by comprising:

the main machine comprises a machine body, a first rotating assembly arranged on the machine body, a second rotating assembly arranged on the first rotating assembly, a spray gun arranged on the second rotating assembly, and a traveling assembly arranged on the machine body; the first rotating assembly comprises a first driving mechanism arranged on the machine body and a first tower platform connected with the first driving mechanism, the first tower platform is positioned on the top surface of the machine body, and the first driving mechanism is used for driving the first tower platform to rotate on the top surface of the machine body; the second rotating assembly comprises a second driving mechanism arranged on the first tower platform and a second tower platform connected with the second driving mechanism, the second driving mechanism is used for driving the second tower platform to rotate, the rotating direction of the second tower platform is different from that of the first tower platform, and the spray gun is arranged on the second tower platform.

2. The farm cleaning robot according to claim 1, wherein the first driving mechanism has a shaft center direction of a rotating shaft perpendicular to the top surface of the body, and the second driving mechanism has a shaft center direction of a rotating shaft parallel to the top surface of the body.

3. The cleaning robot for a farm according to claim 1, wherein the number of the spray guns is two, the two spray guns are a first spray gun and a second spray gun respectively, an included angle between the spraying direction of the first spray gun and the spraying direction of the second spray gun is a, and a is 30 ° to 150 °.

4. The cleaning robot for a farm according to claim 1, wherein there are two of the traveling units, and the two traveling units are respectively located at opposite sides of the body.

5. The cleaning robot for farm according to claim 4, wherein the traveling unit comprises a third driving mechanism mounted on the body, two or more driving wheels rotatably mounted on one side of the body, and a crawler belt sleeved outside the driving wheels and connected to the two or more driving wheels; the third driving mechanism is connected with one of the driving wheels and used for driving the driving wheels to rotate.

6. The cleaning robot for a farm according to claim 1, wherein the liquid outlet end of the lance is detachably provided with a nozzle.

7. The robot of claim 1, further comprising a camera and a lighting lamp, wherein the camera and the lighting lamp are mounted on the main body.

8. The cleaning robot for a farm according to claim 7, wherein more than one of the illumination lamps is provided at each of a head end and a tail end of the body; the camera is arranged at the head end of the machine body; and more than one illuminating lamp and the camera are arranged on the second tower platform.

9. The cleaning robot for a farm according to claim 1, wherein the length of the main body is 450mm to 550mm, the width of the main body is 300mm to 400mm, and the height of the main body is 300mm to 500 mm.

10. The cleaning robot for a farm according to any one of claims 1 to 9, wherein the cleaning robot for a farm further comprises a control box, a high pressure water pipe and a control line; the control box is connected with the spray gun through the high-pressure water pipe; the control box is also electrically connected with the host through the control line.

11. A method of operating a farm cleaning robot according to any of claims 1 to 10, comprising the steps of:

the main machine is placed in a farm, and the main machine is driven to freely walk in the farm through the walking component; when the host computer walks to preset position, drive the spray gun through controlling first actuating mechanism and second actuating mechanism work and remove adjustment spray gun position, the spray gun sprays the cleaning fluid on the top surface of plant, ground or wall.

12. The working method of a cleaning robot for a farm according to claim 11, wherein,

when the ground of a farm needs to be cleaned and disinfected, the specific method for controlling the first driving mechanism and the second driving mechanism to work to drive the spray gun to move and adjust the position of the spray gun comprises the following steps: the angle position of the second tower is adjusted through the second driving mechanism, so that the liquid outlet end of the spray gun faces the ground; then, the first driving mechanism drives the first tower to rotate back and forth, and the spray gun is driven to rotate back and forth along the horizontal plane in the back and forth rotation process of the first tower.

13. The working method of a cleaning robot for a farm according to claim 11, wherein,

when the wall surface or the top surface of a farm needs to be cleaned and disinfected, the specific method for controlling the first driving mechanism and the second driving mechanism to work to drive the spray gun to move and adjust the position of the spray gun comprises the following steps:

the position of the second driving mechanism is correspondingly adjusted through the angle position of the first driving mechanism to adjust the first tower platform, so that the axial direction of a rotating shaft of the second driving mechanism is parallel to the side face of the farm, then the second tower platform is driven to rotate back and forth through the second driving mechanism, and the second tower platform drives the spray gun to rotate back and forth along the vertical face perpendicular to the side face of the farm in the back and forth rotation process.

Technical Field

The invention relates to the technical field of cleaning of farms, in particular to a cleaning robot of a farm and a working method thereof.

Background

Along with the increasing industrialization and scale of the animal husbandry in China, the biological safety risk of the farm is correspondingly improved. At present, the bottleneck problem restricting the development of domestic animal husbandry is epidemic disease prevalence of farm organisms, the risk of epidemic disease prevalence caused by large-scale breeding is further improved, and how to effectively prevent biosafety becomes the central importance of animal husbandry development. Clear away domestic animal excrement and urine in time high-efficiently, keep the regular washing to the plant, guarantee that the fence house sanitation and hygiene is the basis of the biological safety of plant, the biomembrane of the bacterium of epidemic disease can effectively be destroyed in the cleaning and disinfecting operation. Traditionally, the staff is located in the high humidity for a long time, contains the ammonia abominable plant that washes the environment, handheld high-pressure squirt, and manually operation high pressure flushing device washs the plant, need carry out a large amount of cleaning work of long time, and working strength is high, and degree of automation is lower, has certain potential safety hazard, and the cleaning efficiency is lower.

Disclosure of Invention

Therefore, the defects of the prior art need to be overcome, and the cleaning robot for the farm and the working method thereof are provided, which can improve the automation degree and ensure the cleaning efficiency and the cleaning effect.

The technical scheme is as follows: a cleaning robot for a farm, comprising: the main machine comprises a machine body, a first rotating assembly arranged on the machine body, a second rotating assembly arranged on the first rotating assembly, a spray gun arranged on the second rotating assembly, and a traveling assembly arranged on the machine body; the first rotating assembly comprises a first driving mechanism arranged on the machine body and a first tower platform connected with the first driving mechanism, the first tower platform is positioned on the top surface of the machine body, and the first driving mechanism is used for driving the first tower platform to rotate on the top surface of the machine body; the second rotating assembly comprises a second driving mechanism arranged on the first tower platform and a second tower platform connected with the second driving mechanism, the second driving mechanism is used for driving the second tower platform to rotate, the rotating direction of the second tower platform is different from that of the first tower platform, and the spray gun is arranged on the second tower platform.

Foretell cleaning machines people in plant for when carrying out cleaning and disinfection to plant, the host computer is placed in plant, drive the host computer free activity in plant through the running assembly, the host computer is at the plant free activity in-process, rotate on the fuselage top surface through the first tower of actuating mechanism drive, first tower rotates and drives the rotation of second actuating mechanism, second actuating mechanism drive second tower rotates, the second tower rotates and drives the spray gun and rotate, can realize like this that the spray gun sprays the top surface of plant with the washing liquid great scope, ground or the wall, degree of automation is higher, can reduce the human cost, the cleaning performance is better, the cleaning efficiency is higher.

In one embodiment, the axial direction of the rotating shaft of the first driving mechanism is perpendicular to the top surface of the machine body, and the axial direction of the rotating shaft of the second driving mechanism is parallel to the top surface of the machine body.

In one embodiment, the number of the spray guns is two, the two spray guns are respectively a first spray gun and a second spray gun, an included angle between the spraying direction of the first spray gun and the spraying direction of the second spray gun is a, and a is 30-150 degrees.

In one embodiment, the number of the walking assemblies is two, and the two walking assemblies are respectively positioned at two opposite sides of the machine body.

In one embodiment, the walking assembly includes a third driving mechanism mounted on the body, two or more driving wheels rotatably mounted on one side of the body, and a track sleeved outside the driving wheels and connected to the two or more driving wheels; the third driving mechanism is connected with one of the driving wheels and used for driving the driving wheels to rotate.

In one embodiment, the liquid outlet end of the spray gun is detachably provided with a nozzle.

In one embodiment, the cleaning robot for a farm further includes a camera and an illumination lamp, and the camera and the illumination lamp are installed on the host.

In one embodiment, the head end and the tail end of the machine body are both provided with more than one illuminating lamp; the camera is arranged at the head end of the machine body; and more than one illuminating lamp and the camera are arranged on the second tower platform.

In one embodiment, the length of the main machine is 450mm-550mm, the width of the main machine is 300mm-400mm, and the height of the main machine is 300mm-500 mm.

In one embodiment, the cleaning robot for the farm further comprises a control box, a high-pressure water pipe and a control line; the control box is connected with the spray gun through the high-pressure water pipe; the control box is also electrically connected with the host through the control line.

The working method of the cleaning robot for the farm comprises the following steps:

the main machine is placed in a farm, and the main machine is driven to freely walk in the farm through the walking component; when the host computer walks to preset position, drive the spray gun through controlling first actuating mechanism and second actuating mechanism work and remove adjustment spray gun position, the spray gun sprays the cleaning fluid on the top surface of plant, ground or wall.

According to the working method of the cleaning robot for the farm, the cleaning liquid can be sprayed to the top surface, the ground or the wall surface of the farm by the spray gun in a large range, the automation degree is high, the labor cost can be reduced, the cleaning effect is good, and the cleaning efficiency is high.

In one embodiment, when the ground of a farm needs to be cleaned and disinfected, the specific method for controlling the first driving mechanism and the second driving mechanism to work to drive the spray gun to move and adjust the position of the spray gun comprises the following steps: the angle position of the second tower is adjusted through the second driving mechanism, so that the liquid outlet end of the spray gun faces the ground; then, the first driving mechanism drives the first tower to rotate back and forth, and the spray gun is driven to rotate back and forth along the horizontal plane in the back and forth rotation process of the first tower.

In one embodiment, when the wall surface or the top surface of a farm needs to be cleaned and disinfected, the specific method for controlling the first driving mechanism and the second driving mechanism to work to drive the spray gun to move and adjust the position of the spray gun comprises the following steps:

the position of the second driving mechanism is correspondingly adjusted through the angle position of the first driving mechanism to adjust the first tower platform, so that the axial direction of a rotating shaft of the second driving mechanism is parallel to the side face of the farm, then the second tower platform is driven to rotate back and forth through the second driving mechanism, and the second tower platform drives the spray gun to rotate back and forth along the vertical face perpendicular to the side face of the farm in the back and forth rotation process.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a top view of a cleaning robot for a farm according to an embodiment of the present invention;

FIG. 2 is a top view of a cleaning robot for a farm according to another embodiment of the present invention;

fig. 3 is a top view of a cleaning robot for a farm according to an embodiment of the present invention in still another operating state;

FIG. 4 is a side view of a cleaning robot for a farm according to an embodiment of the present invention;

FIG. 5 is a side view of a cleaning robot for a farm according to another embodiment of the present invention;

FIG. 6 is a side view of a cleaning robot for a farm according to an embodiment of the present invention in a still another operation state;

FIG. 7 is a schematic view of the working state of a cleaning robot of a farm according to an embodiment of the present invention when cleaning the ground;

fig. 8 is a schematic structural view of a control box of a cleaning robot for a farm according to an embodiment of the present invention.

10. A host; 11. a body; 12. a first rotating assembly; 121. a first tower; 13. a second rotating assembly; 131. a second drive mechanism; 132. a second tower; 14. a spray gun; 141. a first spray gun; 142. a second spray gun; 143. a nozzle; 15. a walking assembly; 151. a drive wheel; 152. a crawler belt; 16. a camera; 17. an illuminating lamp; 20. a control box; 30. a high pressure water pipe; 40. and controlling the lines.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 1 to 4, fig. 1 is a plan view structural view of a cleaning robot for a farm according to an embodiment of the present invention, fig. 2 is a plan view structural view of a cleaning robot for a farm according to an embodiment of the present invention, fig. 3 is a plan view structural view of a cleaning robot for a farm according to another embodiment of the present invention, and fig. 4 is a side view structural view of a cleaning robot for a farm according to an embodiment of the present invention. According to an embodiment of the present invention, a cleaning robot for a farm includes a main machine 10. The main body 10 includes a main body 11, a first rotating assembly 12 installed on the main body 11, a second rotating assembly 13 installed on the first rotating assembly 12, a spray gun 14 installed on the second rotating assembly 13, and a traveling assembly 15 installed on the main body 11. The first rotating assembly 12 includes a first driving mechanism (not shown) disposed on the body 11 and a first tower 121 connected to the first driving mechanism. The first tower 121 is located on the top surface of the machine body 11, and the first driving mechanism is used for driving the first tower 121 to rotate on the top surface of the machine body 11. The second rotating assembly 13 includes a second driving mechanism 131 mounted on the first tower 121 and a second tower 132 connected to the second driving mechanism 131. The second driving mechanism 131 is used for driving the second tower 132 to rotate, the rotation direction of the second tower 132 is different from the rotation direction of the first tower 121, and the spray gun 14 is installed on the second tower 132.

The cleaning robot of foretell plant for when carrying out cleaning and disinfection to plant, host computer 10 places in plant, drive host computer 10 free activity in plant through walking subassembly 15, host computer 10 is in plant free activity in-process, rotate on 11 top surfaces of fuselage through first actuating mechanism drive first tower 121, first tower 121 rotates and drives second actuating mechanism 131 and rotate, second actuating mechanism 131 drives second tower 132 and rotates, second tower 132 rotates and drives spray gun 14 and rotate, can realize like this that spray gun 14 sprays the top surface of plant with the washing liquid great scope, ground or wall, degree of automation is higher, can reduce the human cost, the cleaning performance is better, the cleaning efficiency is higher.

Referring to fig. 1, 4 and 7, fig. 7 is a schematic view illustrating an operation state of a cleaning robot of a farm according to an embodiment of the present invention when cleaning a floor. Further, the axial center direction of the rotating shaft of the first driving mechanism is perpendicular to the top surface of the machine body 11, and the axial center direction of the rotating shaft of the second driving mechanism 131 is parallel to the top surface of the machine body 11. Thus, when the first driving mechanism works, the first driving mechanism drives the first tower 121 to rotate on the top surface of the machine body 11 by 360 degrees, so that the position of the spray gun 14 can be adjusted on the horizontal plane; when the second driving mechanism 131 works, the second driving mechanism 131 drives the second tower 132 to rotate on the vertical plane (i.e. the plane perpendicular to the horizontal plane), so that the position of the spray gun 14 on the vertical plane, i.e. the pitch angle of the spray gun 14, can be adjusted. During specific work, for example, when the ground of a farm needs to be cleaned and disinfected, the angular position of the second tower 132 is adjusted through the second driving mechanism 131, so that the pitch angle of the spray gun 14 is correspondingly adjusted, the liquid outlet end of the spray gun 14 faces the ground, then the first tower 121 is driven to rotate back and forth through the first driving mechanism, the spray gun 14 is driven to rotate back and forth along the horizontal plane in the process of rotating back and forth of the first tower 121, so that the cleaning liquid sprayed out of the spray gun 14 can be sprayed to cover all corners on the ground of the farm, dead-corner-free cleaning and disinfection are realized, the spray gun 14 rotates back and forth along the horizontal plane to clean the ground, the main machine 10 is driven by the walking component 15 to move forward along the farm, and the ground of the whole farm can be cleaned. The range of the angle that the spray gun 14 is driven to rotate back and forth along the horizontal plane during the back and forth rotation of the first tower 121 is, for example, b (as shown in fig. 7), and b is, for example, 90 ° to 180 °, and the specific size can be determined according to the actual width of the farm and the type of the nozzle 143 installed at the liquid outlet end of the spray gun 14.

For example, when the top surface or the side surface of the farm needs to be cleaned and disinfected, as an example, similar to the above cleaning manner for the ground of the farm, the second driving mechanism 131 adjusts the angular position of the second tower 132 to correspondingly adjust the pitch angle of the spray gun 14, so that the liquid outlet end of the spray gun 14 faces the top surface or the side surface of the farm, then the first driving mechanism drives the first tower 121 to rotate back and forth, and the first tower 121 drives the spray gun 14 to rotate back and forth along the horizontal plane during the back and forth rotation, so that the spray gun 14 can spray the cleaning liquid to cover all corners of the top surface or the side surface of the farm, thereby realizing the cleaning and disinfection without dead corners. As another example, the angular position of the first tower 121 is adjusted by the first driving mechanism to correspondingly adjust the position of the second driving mechanism 131, so that the axial direction of the rotating shaft of the second driving mechanism 131 is parallel to the side of the farm, then the second tower 132 is driven by the second driving mechanism 131 to rotate back and forth, the spray gun 14 is driven to rotate back and forth along the vertical surface perpendicular to the side of the farm during the back and forth rotation of the second tower 132, so that the spray gun 14 can spray the cleaning liquid to cover the top surface and the corners of the farm, thereby realizing dead-corner-free cleaning and disinfection, and the spray gun 14 can rotate back and forth along the vertical surface perpendicular to the side of the farm to clean the top surface and the side of the farm, and the traveling component 15 can synchronously drive the main machine 10 to move forward along the farm, thereby cleaning the side surface and the top surface of the whole farm.

Referring to fig. 4, 5 and 6, fig. 5 is a side view structural view illustrating another operation state of the cleaning robot for a farm according to an embodiment of the present invention, and fig. 6 is a side view structural view illustrating another operation state of the cleaning robot for a farm according to an embodiment of the present invention. In one embodiment, there are two spray guns 14, and the two spray guns 14 are a first spray gun 141 and a second spray gun 142 respectively. The angle between the injection direction of the first spray gun 141 and the injection direction of the second spray gun 142 is a, and a is 30 ° to 150 °. Specifically, the angle a between the injection direction of the first spray gun 141 and the injection direction of the second spray gun 142 is, for example, 80 ° to 100 °, specifically, 90 °. Of course, a may also be any other included angle range, for example, any one of 30 ° to 150 °, and is not limited herein.

Thus, when the side and the top of the farm are required to be cleaned and disinfected, the position of the second driving mechanism 131 is correspondingly adjusted by adjusting the angular position of the first tower 121 through the first driving mechanism, so that the axial direction of the rotating shaft of the second driving mechanism 131 is parallel to the side of the farm, then the second driving mechanism 131 drives the second tower 132 to rotate back and forth, the second tower 132 drives the first spray gun 141 and the second spray gun 142 to rotate back and forth along the vertical surface perpendicular to the side of the farm in the back and forth rotation process, and because the spraying directions of the first spray gun 141 and the second spray gun 142 have the included angle a, when the second driving mechanism 131 rotates in a small-angle pitch manner, the cleaning liquid can be sprayed and covered on the side and the top of the farm, the cleaning operation is convenient, the cleaning effect is good, and the cleaning efficiency is high. Of course, when the ground is cleaned and disinfected, the above cleaning and disinfecting manner may be continuously adopted, that is, both the first spray gun 141 and the second spray gun 142 are opened, and the first spray gun 141 or the second spray gun 142 faces the ground of the farm, the first tower 121 is driven by the first driving mechanism to rotate back and forth, and the spray gun 14 is driven to rotate back and forth along the horizontal plane during the back and forth rotation of the first tower 121. Further, for example, the valve on the liquid outlet end of the first spray gun 141 may be closed, and the cleaning and disinfecting operation on the ground of the farm may be completed only by the second spray gun 142 facing the ground and driven by the first driving mechanism.

Referring to fig. 1 and 4, in one embodiment, there are two walking assemblies 15, and the two walking assemblies 15 are respectively located at two opposite sides of the body 11. Therefore, when the machine body 11 needs to be controlled to move forwards, the two walking assemblies 15 synchronously move forwards to drive the machine body 11 to move forwards; when the machine body 11 needs to be controlled to move backwards, the two walking assemblies 15 synchronously move backwards to drive the machine body 11 to move backwards; when the control of the turning of the fuselage 11 is needed, the two walking assemblies 15 are controlled to move in opposite directions, so that the fuselage 11 can be driven to turn towards one side. And then under the cooperation through these two walking assemblies 15, can drive the host computer in the plant free activity, can remove the position that needs cleaning and disinfecting in the plant, remove the position that needs cleaning and disinfecting after, alright with carrying out pertinence and closely cleaning and disinfecting to the plant to can guarantee the cleaning and disinfecting effect of plant.

Of course, the number of the traveling assemblies 15 may be one, and in this case, in order to ensure the balance of the body 11, the traveling wheels or the crawler belts 152 of the traveling assemblies 15 are disposed at the middle portion of the bottom surface of the body 11, or in this case, two traveling wheels or crawler belts 152 of the traveling assemblies 15 may be disposed at two sides of the body 11. In addition, the number of the walking assemblies 15 may be other than the number, as long as the fuselage 11 can be driven to freely walk in the farm, which is not limited herein.

Referring to fig. 4, in one embodiment, the traveling assembly 15 includes a third driving mechanism (not shown) mounted on the body 11, two or more driving wheels 151 rotatably mounted on one side of the body 11, and a track 152 sleeved outside the driving wheels 151 and connected to the two or more driving wheels 151. The third driving mechanism is connected to one of the driving wheels 151 for driving the driving wheel 151 to rotate. Thus, the third driving mechanism drives the driving wheel 151 to rotate, and the driving wheel 151 correspondingly drives the caterpillar 152 to move, so that the main machine 10 can freely walk on the ground of the farm. Furthermore, the walking assembly 15 is not limited to the track 152, and may also include, for example, a roller, i.e., a roller for walking on the ground of the farm, and is not particularly limited herein.

In a specific embodiment, the first driving mechanism, the second driving mechanism 131 and the third driving mechanism are, for example, motors or other power mechanisms capable of driving the driving wheel 151 to rotate, and are not limited in this respect.

Referring to fig. 4, in one embodiment, the outlet end of the lance 14 is removably provided with a nozzle 143. The nozzle 143 is specifically, for example, a rotary nozzle, an angle nozzle, or a medicated nozzle. The nozzles 143 can be installed quickly according to actual conditions to achieve a better cleaning and disinfecting effect.

For example, the washing liquid spun by the rotary nozzle is in a rotating state, the close-range striking force is very obvious, and the striking force is weakened when the certain distance is exceeded, so that the rotary nozzle is arranged on the spray gun 14 for stain parts which are difficult to clean, and a better cleaning and disinfecting effect is realized.

For example, the angle head may be a 0 ° head, a 15 ° head, a 25 ° head, or the like, and the water ejected from the angle heads at different angles may be dispersed differently. The smaller the angle is, the more concentrated the sprayed water flow is, the farther the shooting range is, the larger the force is, and the smaller the spraying range is; the larger the angle is, the smaller the impact force of the water flow is, but the larger the range of the water flow to be sprayed is, the relatively larger the washing efficiency is, and the washing machine can be used for washing vehicles, for example.

For another example, the dosing nozzle is used during spraying, the spraying angle can be adjusted, and the liquid medicine can be attached to the wall surface in a foam shape after being sprayed out, so that a good cleaning effect is achieved.

Referring to fig. 1 and 4, in one embodiment, the cleaning robot of the farm further includes a camera 16 and an illumination lamp 17. The camera 16 and the illumination lamp 17 are mounted on the host 10. So, light 17 plays the illumination effect, shoots the internal environment of plant through camera 16 to the image information that will shoot returns and gives control box 20 (for example can also be computer or cell-phone), and the staff of being convenient for masters the internal conditions of plant, also is convenient for to the corresponding better cleaning and disinfecting that carries on of plant. Specifically, the illuminating lamps 17 are, for example, high-light LED lamps, and the number of the illuminating lamps 17 may be set according to actual needs, and is not limited herein. In addition, the camera 16 is, for example, a wide-angle high-definition camera 16, which has a clear image capturing effect and a wide image capturing range.

Referring to fig. 1 and 4, further, the head end and the tail end of the body 11 are both provided with more than one illuminating lamp 17. The head end of the body 11 is provided with a camera 16. In addition, the second tower 132 is provided with an illumination lamp 17 and a camera 16. Therefore, the cleaning robot in the farm is provided with the highlight LED illuminating lamp and the wide-angle high-definition camera 16 at the front and the back, so that the cleaning robot can be seen clearly and walk accurately, and the cleaning and the disinfection can be more thorough without any details. In addition, in the free walking process, the distance between the spray head and an actual cleaning point can be adjusted, the close-distance cleaning operation is realized, and the cleaning and disinfection effects are ensured. The automatic cleaning device can complete automatic cleaning in a large-scale breeding plant environment, has high automation degree and greatly reduces the labor cost.

Referring to fig. 2 and 6, in one embodiment, the length L of the host 10 is 450mm to 550mm, the width W of the host 10 is 300mm to 400mm, and the height H of the host 10 is 300mm to 500 mm. The length L of the main unit 10 refers to a distance from a head end face to a tail end face of the main unit 10, the width W of the main unit 10 refers to a distance from one side face of the main unit 10 to the other side face of the main unit 10, and the height H of the main unit 10 refers to a distance from a top end face of the spray gun 14 to the ground when the spray gun 14 of the main unit 10 rotates to a vertical position.

Specifically, the dimension of the main body 10 is, for example, 500mm in length L, 350mm in width W, and 400mm in height H. And the height of the dung ditch of the farm and the height of the pig transporting vehicle are both usually larger than 500mm, so that the cleaning robot of the farm in the embodiment can completely enter the dung ditch to clean and disinfect the dung ditch. The staff can be outside the plant, control on control box 20 can to can avoid the staff operation in narrow and small space, the poisoning risk of ammonia, the security has improved greatly.

Referring to fig. 4 and 8, fig. 8 is a schematic structural diagram illustrating a control box 20 of a cleaning robot for a farm according to an embodiment of the present invention. In one embodiment, the cleaning robot for a farm further includes a control box 20, a high pressure water pipe 30, and a control line 40. The control box 20 is connected to the lance 14 by a high pressure water line 30. The control box 20 is also electrically connected to the host computer 10 via a control line 40. In this way, the control box 20 is located outside the farm, for example, and the worker controls the control box 20 outside the farm to control the work such as walking, cleaning, and disinfecting of the main unit 10 through the control box 20. Host computer 10 places in the inside of plant, freely walks along the ground of plant, accomplishes the all-round cleaning and disinfection work of ground, wall and the top surface to the plant under control box 20's control, has improved work efficiency and security, and has guaranteed the cleaning and disinfection effect.

Referring to fig. 1 and 4, in an embodiment, a working method of a cleaning robot for a farm according to any one of the above embodiments includes the following steps:

the main machine 10 is placed in a farm, and the main machine 10 is driven to freely walk in the farm through the walking component 15; when the main machine 10 travels to a preset position, the first driving mechanism and the second driving mechanism 131 are controlled to work to drive the spray gun 14 to move and adjust the position of the spray gun 14, and the spray gun 14 sprays the cleaning liquid onto the top surface, the ground surface or the wall surface of the farm.

According to the working method of the cleaning robot for the farm, the cleaning liquid can be sprayed to the top surface, the ground or the wall surface of the farm by the spray gun 14 in a large range, the automation degree is high, the labor cost can be reduced, the cleaning effect is good, and the cleaning efficiency is high.

Further, when the ground of the farm needs to be cleaned and disinfected, the specific method for controlling the first driving mechanism and the second driving mechanism 131 to work to drive the spray gun 14 to move and adjust the position of the spray gun 14 comprises the following steps: adjusting the angular position of the second tower 132 by the second driving mechanism 131 so that the liquid outlet end of the lance 14 faces the ground; then, the first driving mechanism drives the first tower 121 to rotate back and forth, and the spray gun 14 is driven to rotate back and forth along the horizontal plane during the back and forth rotation of the first tower 121. So, 14 spun washing liquid just can spray and cover each subaerial corner in plant, realizes no dead angle cleaning and disinfection, and spray gun 14 makes a round trip to rotate the in-process that washs ground along the horizontal plane, drives host computer 10 along plant forward movement by walking component 15, just can realize the equal sanitization on ground with whole plant. The range of the angle b for driving the lance 14 to rotate back and forth along the horizontal plane during the back and forth rotation of the first tower 121 is, for example, 90 ° to 10 °, and the specific size may be determined according to the actual width of the farm and the type of the nozzle 143 provided at the liquid outlet end of the lance 14.

Further, when the wall surface or the top surface of the farm needs to be cleaned and disinfected, the specific method for controlling the first driving mechanism and the second driving mechanism 131 to work to drive the spray gun 14 to move and adjust the position of the spray gun 14 comprises the following steps:

the angular position of the first tower 121 is adjusted by the first driving mechanism to correspondingly adjust the position of the second driving mechanism 131, so that the axial direction of the rotating shaft of the second driving mechanism 131 is parallel to the side surface of the farm, then the second tower 132 is driven by the second driving mechanism 131 to rotate back and forth, and the spray gun 14 is driven to rotate back and forth along the vertical surface perpendicular to the side surface of the farm in the back and forth rotation process of the second tower 132. So, spray gun 14 just can realize covering each corner on top surface, the side of plant with the washing liquid injection, realizes no dead angle cleaning and disinfecting, and spray gun 14 makes a round trip to rotate the in-process that washs top surface, the side of plant along the vertical face of perpendicular to plant side, and walking assembly 15 can drive host computer 10 along the plant forward movement in step, just can realize the equal sanitization of side and the top surface with whole plant.

In summary, the cleaning robot for the farm and the working method thereof have at least the following advantages:

(1) when being used for carrying out cleaning and disinfecting to the plant, host computer 10 places in the plant, drive host computer 10 free activity in the plant through walking subassembly 15, host computer 10 is at the free activity in-process in plant, rotate on body 11 top surface through first drive mechanism drive first tower 121, first tower 121 rotates and drives second drive mechanism 131 and rotate, second drive mechanism 131 drives second tower 132 and rotates, second tower 132 rotates and drives spray gun 14 and rotate, can realize like this that spray gun 14 sprays the top surface of plant with the washing liquid great range, ground or the wall, degree of automation is higher, can reduce the human cost, the cleaning performance is better, the cleaning efficiency is higher.

(2) When the ground of plant needs to be cleaned and disinfected, the angular position of second tower 132 is adjusted through second actuating mechanism 131, thereby correspondingly adjusting the pitch angle of spray gun 14, make the play liquid end of spray gun 14 towards ground, then make a round trip to rotate through first actuating mechanism drive first tower 121, first tower 121 makes a round trip to rotate the in-process and drives spray gun 14 and make a round trip to rotate along the horizontal plane, spray gun 14 spun washing liquid just can spray and cover each subaerial corner in plant like this, realize no dead angle cleaning and disinfection, spray gun 14 rotates the in-process of wasing ground along the horizontal plane round trip, drive host computer 10 and move along plant forward by walking subassembly 15, just can realize all the sanitization on the ground of whole plant.

(3) When the side and the top of the farm need to be cleaned and disinfected, the position of the second driving mechanism 131 is correspondingly adjusted by adjusting the angular position of the first tower 121 through the first driving mechanism, so that the axial direction of the rotating shaft of the second driving mechanism 131 is parallel to the side of the farm, then the second driving mechanism 131 drives the second tower 132 to rotate back and forth, the second tower 132 drives the first spray gun 141 and the second spray gun 142 to rotate back and forth along the vertical surface perpendicular to the side of the farm in the back and forth rotation process, and because the spraying directions of the first spray gun 141 and the second spray gun 142 have the included angle a, when the second driving mechanism 131 rotates in a small-angle pitch manner, the cleaning liquid can be uniformly sprayed and covered on the side and the top of the farm, the cleaning operation is convenient, the cleaning effect is good, and the cleaning efficiency is high. Of course, when cleaning and disinfecting the ground, the above-mentioned cleaning and disinfecting method may be continuously adopted, and at the same time, for example, the valve on the liquid outlet end of the first spray gun 141 may be closed, and the cleaning and disinfecting operation on the ground of the farm may be completed only by the second spray gun 142 facing the ground and driven by the first driving mechanism.

(4) Omnibearing three-dimensional monitoring

All dispose highlight LED lamp and wide angle high definition digtal camera 16 around the cleaning robot of plant, see clearly, walk the position, do not put any detail, the cleaning and disinfection can be more thorough. In addition, in the free walking process, the distance between the spray head and an actual cleaning point can be adjusted, the close-distance cleaning operation is realized, and the cleaning and disinfection effects are ensured. The automatic cleaning device can complete automatic cleaning in a large-scale breeding plant environment, has high automation degree and greatly reduces the labor cost.

(5) The body 11 is small and flexible

The machine body 11 is small and exquisite, the crawler-type driving design is adopted, the gun rod can be rotated with ultra-large degree of freedom, the multifunctional spray heads are configured, the multifunctional spray heads are suitable for various scenes, the pig car can be carried on the machine body, the excrement channel can be put down, the leak board can be washed, the air duct can be washed, and the like, so that the machine body can be used for coping with various complex environments, and the cleaning and the disinfection can be more comfortable.

(6) Intelligent control

The system can intelligently cruise and remotely and manually control combined operation, so that the labor intensity of manual operation is greatly reduced, manpower is liberated, and the cleaning and disinfection are more efficient.

(7) Is specially developed for cleaning and disinfection, and improves the biological safety

The cleaning machines people replacement personnel operation of plant reduces the personnel and takes the poisonous polluted environment risk, can carry out cleaning and disinfection to cleaning and disinfection tank self simultaneously, and nontoxic operation, cleaning and disinfection could be safer.

(8) Good pressure resistance and strong adaptability

The water pipe of the cleaning robot of plant adopts the stainless steel pipe, and fuselage 11 also adopts stainless steel, can tolerate super high water pressure, the various plant high pressure flushing device of adaptation, high temperature resistant disinfection, self easily washs, can carry out omnidirectional cleaning and disinfecting around using at every turn, avoids self to carry the virus, causes secondary pollution. When the staff operates, adopt the mode of man-machine separation, avoid personnel and robot contact, cause cross contamination.

(9) The nozzle 143 is detachably mounted at the liquid outlet end of the spray gun 14, and can be configured with various spray heads, so that the quick-connection operation is realized, the replacement is convenient, and the quick-connection spray gun is suitable for various scenes.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.