TWI879118B - Mobile cleaning device and control system thereof - Google Patents

Abstract

A mobile cleaning device adapted to a livestock husbandry field includes a movable body and a plurality of guide scrapers. The movable body is configured to be movable with respect to the livestock husbandry field. The movable body has an accommodation space and an opening that are connected to each other. The accommodation space is configured to accommodate dirt from the livestock husbandry field via the opening. The guide scrapers are disposed on the movable body and support the movable body. The guide scrapers have an interval distance therebetween gradually decreasing along a direction towards the opening.

Description

Mobile cleaning device and its control system

The present invention relates to a mobile cleaning device and a control system thereof, in particular to a mobile cleaning device and a control system thereof suitable for livestock breeding fields.

In animal husbandry, cleaning work is traditionally done by manpower, which results in a dirty and smelly working environment and heavy workload. Therefore, some animal husbandry companies want to import cleaning robots from European and American countries to reduce the burden of cleaning work.

However, livestock farms in European and American countries are vast and can be standardized. Cleaning robots suitable for these standardized farms may not be suitable for various livestock farms in China after being imported into the country.

The present invention provides a mobile cleaning device and a control system thereof, which can be applied to various livestock farms and can effectively perform cleaning work.

The mobile cleaning device disclosed in one embodiment of the present invention is suitable for a livestock breeding farm. The mobile cleaning device includes a mobile body and a plurality of guide scrapers. The mobile body is movable relative to the livestock breeding farm. The mobile body has a receiving space and an opening that are connected to each other. The receiving space is used to receive dirt from the livestock breeding farm through the opening. The guide scrapers are arranged on the mobile body and support the mobile body. The distance between the guide scrapers gradually shortens along the direction approaching the opening.

Another embodiment of the present invention discloses a mobile cleaning device control system, which includes a mobile cleaning device and a controller. The mobile cleaning device includes a mobile body, at least one mobile module and a plurality of guide scrapers. The mobile body has a accommodating space and an opening that are interconnected. The at least one mobile module is disposed on the mobile body so that the mobile body can move. The guide scrapers are disposed on the mobile body and support the mobile body. The distance between the guide scrapers gradually shortens in the direction approaching the opening. The controller is communicatively connected to the at least one mobile module so as to control the movement of the mobile cleaning device in a livestock breeding field through the at least one mobile module. The mobile cleaning device collects dirt from the livestock breeding field through a guide scraper and places the dirt in a containing space through an opening.

According to the mobile cleaning device and its control system disclosed in the above-mentioned embodiments, due to the design of the guide scraper, the mobile cleaning device can cross uneven ground while moving, so it can be applied to various livestock farms, and at the same time, it can collect dirt to the opening while moving, so that the cleaning work can be carried out effectively.

The above description of the content of the present invention and the following description of the implementation method are used to demonstrate and explain the principle of the present invention and provide a further explanation of the scope of the patent application of the present invention.

The detailed features and advantages of the present invention are described in detail in the following embodiments, and the content is sufficient for any person skilled in the relevant art to understand the technical content of the present invention and implement it accordingly. According to the content disclosed in this specification, the scope of the patent application and the drawings, any person skilled in the relevant art can easily understand the relevant purposes and advantages of the present invention. The following embodiments further illustrate the viewpoints of the present invention in detail, but do not limit the scope of the present invention by any viewpoint.

Please refer to Figures 1 to 6, wherein Figure 1 is a block diagram of a mobile cleaning device control system according to an embodiment of the present invention, Figure 2 is a three-dimensional schematic diagram of a mobile cleaning device according to an embodiment of the present invention, Figure 3 is a bottom side schematic diagram of the mobile cleaning device of Figure 2, Figure 4 is a partial enlarged schematic diagram of the mobile cleaning device of Figure 2, Figure 5 is another partial enlarged schematic diagram of the mobile cleaning device of Figure 3, and Figure 6 is a three-dimensional schematic diagram of a guide scraper of the mobile cleaning device of Figure 2.

In one embodiment of the present invention, a mobile cleaning device control system 1 suitable for use in a livestock breeding field (e.g., a dairy cow barn, not shown in the figure) is provided. The mobile cleaning device control system 1 includes a mobile cleaning device 10 and a controller 20.

The mobile cleaning device 10 may include a mobile body 100 , a plurality of mobile modules 200 , a suction module 300 , a plurality of guide scrapers 400 , a plurality of rotating brush modules 500 , a plurality of side baffles 600 , a plurality of guide baffles 700 , an auxiliary baffle 800 and a liquid supply module 900 .

The mobile body 100 has a receiving space 110 and an opening 120 which are connected to each other.

Each mobile module 200 includes a wheel body 210 and a drive motor 230. The wheel body 210 is rotatably arranged on the mobile body 100 through the drive motor 230, so that the mobile body 100 can be moved relative to the livestock breeding field. The drive motor 230 is connected to the controller 20 for communication. Please note that the method of moving the wheel body 210 is not used to limit the present invention. Please note that the drive motor 230 can also be connected to the wheel body 210 through a speed reduction rotation group (not shown separately), and the present invention is not limited to this. In some embodiments, the mobile module can also include other suitable moving media, such as a sliding skateboard or a walking mechanical foot, etc.

The suction module 300 is, for example, a vacuum pump. The suction module 300 can be disposed on the mobile body 100 and communicatively connected to the controller 20. The suction module 300 can evacuate the accommodating space 110 so that a negative pressure is formed inside the accommodating space 110. When the mobile cleaning device 10 moves in the livestock breeding field, the negative pressure in the accommodating space 110 can be used to suck the waste (such as cow excrement, not shown separately) from the livestock breeding field into the accommodating space 110 through the opening 120 for temporary storage. Please note that the suction module is not used to limit the present invention. In some embodiments, waste can also be moved into the accommodating space by physical contact such as insertion.

The guide scraper 400 is pivotally connected to the mobile body 100, for example, through the shock absorber CS shown in FIG. 4. The guide scraper 400 and the wheel body 210 are respectively located at opposite sides of the opening 120 and jointly support the mobile body 100. Each guide scraper 400 may include a sliding portion 410, a front curved portion 420, a rear curved portion 430 and a scraper portion 440. The sliding portion 410 may, for example, be aligned with the ground of a livestock breeding farm. The front curved portion 420 and the rear curved portion 430 are respectively connected to opposite sides of the sliding portion 410. The sliding part 410, the front part 420 and the rear part 430 can, for example, form a sled-like appearance together, and the front part 420 can swing up and down as the guide scraper 400 pivots, so that it can slide on the ground in various possible situations in the livestock breeding field, such as passing through a recess without getting stuck. In addition, the guide scraper 400 and the wheel body 210 can be aligned with each other in the travel direction D1 of the mobile cleaning device 10, which can further enhance the ability of the mobile cleaning device 10 to walk on the ground in various possible situations in the livestock breeding field. The scraper part 440 is connected to one side of the sliding part 410, the front part 420 and the rear part 430, and, for example, stands on the ground of the livestock breeding field. The distance between the scraper parts 440 of the guide scrapers 400 gradually shortens in the direction approaching the opening 120 , so as to concentrate the dirt from the livestock breeding field toward the opening 120 .

The rotating brush module 500 includes a plurality of brushes 510 and a plurality of rotating motors 520. The brushes 510 are rotatably disposed on the mobile body 100 and are located between the guide scraper 400. The rotating directions of the brushes 510 can be opposite to each other, such as directions R1 and R2 shown in FIG. 3, so as to further concentrate the dirt from the livestock breeding field to the opening 120. The rotating motors 520 are communicatively connected to the controller 20 and are respectively connected to the brushes 510.

The side baffles 600 are disposed on the mobile body 100. Each side baffle 600 includes a front baffle 610, a connecting portion 620, and a rear baffle 630 connected in sequence. The front baffle 610 is located in front of the guide scraper 400 in the travel direction D1 of the mobile cleaning device 10, and the front baffle 610 and the travel direction D1 of the mobile cleaning device 10 may form an angle, so that dirt can be pre-collected toward the opening 120 when the mobile cleaning device 10 is moving. The connecting parts 620 are respectively located at two opposite sides of the guide scraper 400 away from each other to prevent dirt from flowing out from the sides when the mobile cleaning device 10 moves. The rear stopper 630 is located at the rear side of the guide scraper 400 in the moving direction D1 of the mobile cleaning device 10 to prevent dirt that cannot be scraped off in time from overflowing.

The guide baffle 700 is disposed on the mobile body 100 and located between the guide scraper 400 and the opening 120 , so as to guide the dirt scraped by the guide scraper 400 to the opening 120 .

The auxiliary baffle 800 is disposed on the mobile body 100 and is located behind the guide scraper 400 and the opening 120 in the moving direction D1 of the mobile cleaning device 10 , so as to prevent the dirt that is not sucked into the accommodating space 110 through the opening 120 from flowing to the rear and affecting the movement of the wheel body 210 .

Please note that the rotating brush module 500, the side baffles 600, the guide baffles 700 and the auxiliary baffles 800 are optional. In some embodiments, if the mobile cleaning device can suck dirt in time while traveling, the rotating brush module, the side baffles, the guide baffles and the auxiliary baffles can be omitted.

The liquid supply module 900 is disposed on the mobile body 100. The liquid supply module 900 includes a container 910, a plurality of nozzles 920, and a liquid pump 930. The container 910 is, for example, a water tank or a water bag, which can contain liquids such as clean water or disinfectant. The nozzles 920 are, for example, disposed on the front and rear sides of the mobile body 100. The liquid pump 930 is connected to the container 910 and the nozzles 920, and is also connected to the controller 20 for communication.

The controller 20 can be used to start the drive motor 230 to allow the mobile cleaning device 10 to move in the livestock breeding field. In addition, the controller 20 can also instruct the drive motors 230 in different mobile modules 200 to operate at different speeds, so that the wheels 210 in different mobile modules 200 have different travel speeds, thereby meeting the turning requirements of the mobile cleaning device 10. The controller 20 can also start the suction module 300, the rotary motor 520 and the liquid pump 930 at the same time, so that the suction module 300 can continuously form a negative pressure in the accommodating space 110, so that the rotary motor 520 allows the brush 510 to continuously rotate along the directions R1 and R2 shown in FIG. 3, and the liquid pump 930 sprays the liquid in the container 910 to the front and rear sides of the mobile cleaning device 10 through the nozzle 920.

When the mobile cleaning device 10 is moving, the front baffle 610 will first collect the dirt toward the opening 120. If the side baffles 600 are not provided, the dirt will directly contact the guide scraper 400; or, if the front baffle 610 is not able to collect the dirt in time, or the mobile cleaning device 10 turns, some of the dirt may also overflow to the guide scraper 400. At this time, the scraper 440 of the guide scraper 400 can collect the dirt toward the opening 120. The rotating brush 510 can also assist in moving the collected dirt toward the opening 120. Furthermore, part of the dirt can also reach the opening 120 after being guided by the guide baffle 700. Through the negative pressure formed by the suction module 300 in the accommodating space 110, the dirt that reaches the opening 120 can be moved into the accommodating space 110 to complete the cleaning of the dirt. At this time, if there is no time for suction, the connecting part 620, the rear baffle 630 and the auxiliary baffle 800 will block the dirt in multiple directions to prevent the dirt from overflowing. In addition, the liquid sprayed from the front and rear sides of the mobile cleaning device 10 through the nozzle 920 can also clean or disinfect the livestock breeding field.

According to the mobile cleaning device and its control system of the above-mentioned embodiment, due to the design of the sliding part, the front bulge part and the rear bulge part in the guide scraper, the mobile cleaning device can cross uneven ground while traveling, so it can be applied to various livestock farms. In addition, due to the design of the scraper part in the guide scraper, the mobile cleaning device can collect dirt to the opening while traveling, so that the cleaning work can be carried out effectively.

It should be noted that the communication connection mentioned in this article refers to a connection method in which two components exchange signals with each other, for example, in a wired or wireless manner.

Although the present invention is disclosed as above with the aforementioned embodiments, they are not used to limit the present invention. Anyone skilled in similar techniques may make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of patent protection of the present invention shall be subject to the scope of the patent application attached to this specification.

1: Mobile cleaning device control system 10: Mobile cleaning device 100: Mobile body 110: Accommodation space 120: Opening 200: Mobile module 210: Wheel body 230: Driving motor 300: Suction module 400: Guide scraper 410: Sliding part 420: Front camber 430: Rear camber 440: Scraper part 500: Rotating brush module 510: Brush tool 520: Rotating motor 600: Side baffle 610: Front baffle 620: Connecting part 630: Rear baffle 700: Guide baffle 800: Auxiliary baffle 900: Liquid supply module 910: Container 920: Nozzle 930: Liquid pump 20: Controller CS: Shock absorber D1, R1, R2: Direction

FIG. 1 is a block diagram of a control system of a mobile cleaning device according to an embodiment of the present invention. FIG. 2 is a three-dimensional schematic diagram of a mobile cleaning device according to an embodiment of the present invention. FIG. 3 is a bottom schematic diagram of the mobile cleaning device of FIG. 2. FIG. 4 is a partial enlarged schematic diagram of the mobile cleaning device of FIG. 2. FIG. 5 is another partial enlarged schematic diagram of the mobile cleaning device of FIG. 3. FIG. 6 is a three-dimensional schematic diagram of a guide scraper of the mobile cleaning device of FIG. 2.

10: Mobile cleaning device

100: Mobile body

110: Storage space

120: Open mouth

210: Wheel body

400: Guide scraper

410: Sliding part

420: Front section

430: Hou Xuan Department

440: Scraper section

510: Brushes

600: Side guard

610: Front guard

620:Connection part

630: rear guard

700:Guide baffle

800: Auxiliary baffle

910: Container

920: Nozzle

D1: Direction

Claims (14)

A mobile cleaning device is suitable for a livestock breeding field. The mobile cleaning device comprises: a mobile body, which is movable relative to the livestock breeding field, wherein the mobile body has a receiving space and an opening that are connected to each other, and the receiving space is used to receive dirt from the livestock breeding field through the opening; and a plurality of guide scraping members, which are arranged on the mobile body. The movable body is supported by the guide scraper, wherein each of the guide scraper comprises a sliding portion, a front curved portion, a rear curved portion and a scraper portion, the front curved portion and the rear curved portion are respectively connected to two opposite sides of the sliding portion, the scraper portion is connected to one side of the sliding portion, the front curved portion and the rear curved portion, and the distance between the scraper portions of the guide scraper gradually shortens along the direction approaching the opening. A mobile cleaning device as described in claim 1, wherein the guide scraping members are pivotally connected to the mobile body, and the front portions swing up and down as the guide scraping members pivot. The mobile cleaning device as described in claim 1 further includes a plurality of wheels, wherein the wheels are rotatably disposed on the mobile body so that the mobile body can be moved, the wheels and the guide scrapers are respectively located on opposite sides of the opening and jointly support the mobile body, and the wheels and the guide scrapers are aligned with each other in the travel direction of the mobile cleaning device. The mobile cleaning device as described in claim 1 further comprises a plurality of brushes, wherein the brushes are rotatably disposed on the mobile body and between the guide scraping members, and the rotation directions of the brushes are opposite to each other. The mobile cleaning device as described in claim 1 further includes a plurality of side baffles, wherein the side baffles are arranged on the mobile body, and each of the side baffles includes a front baffle portion, a connecting portion and a rear baffle portion connected in sequence, the connecting portions are respectively located on two opposite sides of the guide scraping members far away from each other, and the front baffle portions and the rear baffle portions are respectively located on the front side and the rear side of the guide scraping members in the travel direction of the mobile cleaning device. The mobile cleaning device as described in claim 1 further comprises a plurality of guide baffles, wherein the guide baffles are disposed on the mobile body and located between the guide scraping members and the opening. The mobile cleaning device as described in claim 1 further comprises an auxiliary baffle, wherein the auxiliary baffle is arranged on the mobile body and is located at the rear side of the guide scrapers and the opening in the travel direction of the mobile cleaning device. The mobile cleaning device as described in claim 1 further includes a liquid supply module, wherein the liquid supply module is arranged on the mobile body, and the liquid supply module includes a container, at least one nozzle and a liquid pump, the container is used to contain a liquid, the at least one nozzle is arranged on one side of the mobile body, and the liquid pump connects the container and the at least one nozzle and is used to spray the liquid in the container from the at least one nozzle. The mobile cleaning device as described in claim 1 further comprises a suction module, wherein the suction module is disposed on the mobile body and is used to evacuate the accommodating space. A mobile cleaning device control system comprises: a mobile cleaning device comprising: a mobile body having a accommodating space and an opening connected to each other; at least one mobile module arranged on the mobile body so that the mobile body can move; and a plurality of guide scraping members arranged on the mobile body and supporting the mobile body, wherein each of the guide scraping members comprises a sliding portion, a front curved portion, a rear curved portion and a scraping plate portion, wherein the front curved portion and the rear curved portion are respectively connected to opposite sides of the sliding portion, and the scraping plate portion The invention relates to a mobile cleaning device for livestock breeding. The mobile cleaning device comprises a plurality of guide scrapers connected to one side of the sliding portion, the front curved portion and the rear curved portion, and the distance between the scraper portions of the guide scrapers gradually shortens along the direction approaching the opening; and a controller, which is communicatively connected to the at least one mobile module to control the movement of the mobile cleaning device in a livestock breeding field through the at least one mobile module, wherein the mobile cleaning device collects dirt from the livestock breeding field through the guide scrapers and accommodates the dirt in the accommodating space through the opening. A mobile cleaning device control system as described in claim 10, wherein the at least one mobile module includes a wheel body and a driving motor, the wheel body is rotatably disposed on the mobile body through the driving motor, and the driving motor is communicatively connected to the controller. A mobile cleaning device control system as described in claim 10, wherein the mobile cleaning device further comprises a plurality of rotating brush modules, the rotating brush modules comprise a plurality of brushes and a plurality of rotating motors, the brushes are rotatably disposed on the mobile body, and the rotating motors are communicatively connected to the controller and are respectively connected to the brushes. A mobile cleaning device control system as described in claim 10, wherein the mobile cleaning device further includes a liquid supply module, which is arranged on the mobile body, and the liquid supply module includes a container, at least one nozzle and a liquid pump that are interconnected, and the liquid pump is communicatively connected to the controller. A mobile cleaning device control system as described in claim 10, wherein the mobile cleaning device further includes a suction module, the suction module is disposed on the mobile body, and the suction module is communicatively connected to the controller.

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