畜禽舍防疫消毒机器人设计与试验

Design and Test of Disinfection Robot for Livestock and Poultry House

针对畜禽养殖防疫消毒劳动强度大、安全性差的问题,设计了防疫消毒机器人系统,以实现畜禽舍防疫消毒喷雾的智能化作业。机器人系统由移动承载平台、防疫喷雾部件、环境监测传感器以及控制器等4部分构成,支持全自动运行和遥控操作2种工作模式。针对畜禽舍内弱光、低应激的工况条件,提出了"磁标-射频识别"组合的导航路径探测方法,实现在畜禽舍内养殖笼架间的自主移动。设计了风助式药液喷嘴,可同步实现消毒药液的雾化和扩散。通过对喷嘴内腔风场进行流体动力学仿真,对喷嘴气体导流和药液雾化部件结构参数进行了优化设计,确定了锥形导流垫块和雾化栅板的倾角分别为75°和90°。最后,在禽舍内对机器人导航和喷雾性能进行了现场测试。试验结果表明,机器人移动平台可满足0.1~0.5 m/s速度范围的自动巡线导航,其实际轨迹相对磁钉标记的最大偏移量为50.8 mm;风助式喷嘴可适用于200~400 mL/min流量的药液喷洒,形成的雾滴直径(DV.9)为51.82~137.23μm,雾滴沉积密度为116~149个/cm^2。本畜禽舍防疫消毒机器人可实现养殖舍内消毒和免疫药液的智能化喷雾作业。

In order to improve the efficiency and safety of epidemic prevention and disinfection operations for livestock and poultry breeding,the disinfection robot system and the automatic disinfecting mode were researched in this study.The robot system is composed of four components,namely the automatic bearing vehicle,the disinfection spraying unit,the environmental monitoring sensors,and the controller.The robot supports two working modes:fully automatic mode and remote control mode.Aiming at the low-light and low-stress condition in the livestock and poultry houses,the method for detecting navigation path based on"Magnet-RFID"marks in the ground was proposed to realize the robot’s automatic moving between the cages.In view of the large-flow and long-range requirements of the disinfectant’s spraying,the air-assisted nozzle was designed,which could atomize and disperse the liquid independently.Based on the CFD simulation of airflow in the nozzle,the nozzle’s parts structural parameters were optimized,as the angle of the cone-shaped guide pad and the inclination angle of the grid respectively determined as 75°and 90°.Finally,the robot’s performance was tested in a poultry house in Beijing.The results showed that,the robot’s mobile platform could automatically navigate at the speed of 0.1-0.5 m/s,and the maximal deviation distance between the actual trajectory and the expected path was 50.8 mm.The air-assisted nozzle could realize the atomization and diffusion of the liquid medicine at the same time,and was suitable for spraying the liquid medicine with a flow rate of 200-400 mL/min.The diameter(DV.9)of the liquid droplets formed was 51.82-137.23μL,and became larger as the flow rate of the liquid medicine increased.The deposition density of spray droplets formed by the nozzle was 116-149/cm^2,and decreased as the spray distance increased.The size and density of the liquid droplets of the spray nozzle in different areas of the cage all met the index requirements for effectively killing adherent pathogenic microorganisms.The robot could be applied as an automatic sprayer for disinfectant and immune reagent in the livestock and poultry house.