FR3100424A1 - Installation for animal husbandry comprising one or more mobile robots for collecting livestock effluent, and a device for rinsing the effluent storage tank of such a robot. - Google Patents

Abstract

Installation for animal husbandry comprising one or more mobile robots for collecting livestock effluent, and a device for rinsing the effluent storage tank of such a robot. The invention relates to an animal breeding installation (1) comprising at least one mobile vehicle (2) provided with means (231) for collecting effluents located on a surface of the installation, with a tank (R). intended to store the collected effluents, at least one closable outlet (26) for collecting effluents located on said surface connected to the reservoir (R) and at least one outlet (27) for discharging effluents from the reservoir (R), the installation further comprising means (31) for emptying the tank (R) of the vehicle (2) and means (32) for cleaning said tank (R) by injecting a cleaning fluid into the tank (R). ABRIDGED FIGURE: Fig. 6

Description

Installation for animal husbandry comprising one or more mobile robots for collecting livestock manure, and device for rinsing the manure storage tank of such a robot.

Field of invention

The field of the invention is that of agriculture.

More specifically, the invention relates to the field of animal husbandry.

More specifically still, the invention relates to an autonomous device for the collection of effluents (slurry in particular) strewing a surface, such as the ground, of an enclosure for raising animals (a barn, for example).

The invention also relates to an installation for raising animals (cattle for example) implementing such an autonomous device or several of these devices.

Prior art and its drawbacks

The comfort and hygiene of animals are decisive factors in rationalizing veterinary costs and obtaining better performance from a farm.

In particular, the floor of livestock buildings must be clean.

Vehicles, autonomous or not, are known for removing solid and liquid livestock effluents (manure and slurry) strewing the floor of an enclosure for animal husbandry.

By effluent, we mean animal waste, cleaning water, rainwater, etc.

This type of vehicle moves on the floor of the enclosure and collects by suction, or any other means, the effluents to be collected during its movement. It stores these effluents in an on-board tank and will regularly empty the latter in a dedicated emptying area (gutter, pit, tank, etc.). Once the tank has been emptied, the robot resumes its cleaning cycle.

However, it appears that very often the tank is not completely emptied and that effluent residues remain in the bottom of the tank when the vehicle leaves for a cleaning cycle.

Consequently, the quantity of effluents that can be collected by the vehicle during the cleaning cycle following emptying is less than the theoretical capacity of the tank and the period of time between two consecutive emptyings of the tank is shortened.

The invention does not pose these problems associated with the devices of the prior art.

Indeed, the invention relates to an animal breeding installation comprising at least one mobile vehicle provided with means for collecting the effluents located on a surface of the installation, with a tank intended to store/collect the collected effluents, at least one closable mouth for suction of the effluents located on said surface connected to the reservoir and at least one closable mouth for the evacuation of the effluents from the reservoir.

According to the invention, the installation further comprises means for emptying the tank of the mobile vehicle and means for cleaning said tank by injecting a cleaning fluid into the tank.

The invention thus proposes a device for rinsing the stockbreeding effluent storage tank of a mobile robot.

This rinsing can be manual or automatic.

The collection mouth and the evacuation mouth can be two separate mouths or one and the same mouth used to collect and drain.

The mobile vehicle may or may not be an autonomous vehicle.

The collection of effluents on a surface by the robot can be carried out by suction or any other means known to those skilled in the art (by the implementation of one or more brushes for example).

According to a particular aspect of the invention, the means for emptying the tank of the vehicle and the means for cleaning said tank are arranged in a terminal for emptying and cleaning the installation.

According to a particular aspect of the invention, said emptying and cleaning terminal is configured to ensure initially the emptying of the tank of said vehicle, then the cleaning of said tank by means of the cleaning means.

According to a particular aspect of the invention, the cleaning fluid is a liquid, such as water or slurry

In an alternative embodiment, the cleaning fluid is a gas, such as air.

According to a particular aspect of the invention, the cleaning fluid is injected into the tank of the vehicle by said at least one mouth for discharging effluents from the tank and is then evacuated by this same mouth and/or by said at least one collection mouth.

According to a particular aspect of the invention, the cleaning fluid is injected into the tank of the vehicle by at least one specific mouth for injecting the cleaning fluid and is then evacuated by at least one of said specific mouth(s). , collection outlet(s) and exhaust outlet(s).

According to a particular aspect of the invention, said means for cleaning the tank comprise at least one pipe for supplying the cleaning fluid able to communicate fluidly with said discharge mouth for the effluents of the mobile vehicle or the specific mouth for injecting the cleaning fluid.

According to a particular aspect of the invention, said means for cleaning the reservoir comprise a device for directing the cleaning fluid.

According to a particular aspect of the invention, said tank cleaning means are fluidically connected to a water network and/or to a slurry storage tank.

According to a particular aspect of the invention, said at least one mouth for collecting effluents connected to the tank and said at least one mouth for discharging effluents from the tank are two separate mouths.

Alternatively, said at least one mouth for collecting effluents located connected to the tank and said at least one mouth for discharging effluents from the tank are one and the same mouth.

According to a particular aspect of the invention, said emptying and cleaning terminal is associated with means for closing said at least one mouth for collecting effluents from the vehicle and for opening said at least one mouth for evacuating effluents of the vehicle so as to allow emptying of the tank of the vehicle at said emptying and cleaning terminal.

According to a particular aspect of the invention, said breeding installation comprises activation means intended to ensure, when the vehicle approaches the emptying and cleaning terminal, the closing of said at least one mouth for collecting effluents from the vehicle and the opening of said at least one effluent discharge outlet.

The invention relates to a mobile vehicle intended to be implemented in an installation as previously comprising means for collecting effluents located on a surface of the installation, a tank intended to store the collected effluents, at least one closable collection mouth effluents located on said surface of the installation connected to the tank, of at least one closing mouth for the evacuation of the effluents from the tank, the said vehicle comprising at least one mouth for injecting a cleaning fluid into the tank .

According to a particular aspect of the invention, said at least one mouth for injecting a cleaning fluid into the tank is the mouth for the evacuation of the effluents from the tank or a specific injection mouth opening into the tank.

According to a particular aspect of the invention, the mobile vehicle comprises effluent scraping means located on a surface of the installation, said scraping means being located at the front of the vehicle, said at least one effluent collection mouth and said at least one effluent discharge mouth being located in front of the scraping means.

List of Figures

Other aims, characteristics and advantages of the invention will appear more clearly on reading the following description, given by way of a simple illustrative example, and not limiting, in relation to the figures, among which:

[Fig. 1] is a schematic view, from above, of a breeding installation in which the invention is implemented;

[Fig. 2] is a perspective view of a mobile robot used in the installation of the invention;

[Fig. 3] is a bottom view of the robot of FIG. 2 showing the suction and effluent discharge mouths without the shutter mechanism for the sake of clarity;

[Fig. 4] is a view from below of the robot of FIG. 2 showing the suction and effluent discharge mouths with the shutter mechanism;

[Fig. 5] is a block diagram of a mobile robot according to the invention;

[Fig. 6] is a bottom view of the robot and of the device for cleaning the effluent storage tank of said robot;

[Fig. 7] is a top view of the robot and of the device for cleaning the effluent storage tank of said robot.

Detailed description of embodiments of the invention

Figure 1 is a schematic view, from above, of a breeding installation 1, for cattle for example, in which the invention is implemented. This installation 1, a livestock building for example, can implement one or more mobile vehicles, called robots, 2 for collecting effluents (slurry in particular) strewing a surface (the ground, for example) of the installation 1 ( a single robot 2 following a trajectory schematized by a solid arrowed line is illustrated in FIG. 1).

Such a robot 2 is shown in perspective in Figure 2. The robot 2, which is an autonomous mobile robot in this example, conventionally comprises a frame 21 carrying wheels 22 mounted on the sides of the frame, one or two drive motors wheels, and an energy source in the form of one or more electric battery(ies) (not shown). In this embodiment, the robot 2 further comprises a device for scraping a surface of the installation (the ground for example), or scraper, which is mounted on the front of the frame. This scraper 23 takes the form of a V-shaped or funnel-shaped blade.

It further comprises means for collecting effluents 231 (by suction in this example) and a tank R intended to store/collect the sucked up slurries.

It should be noted that the collection of effluents could be implemented other than by suction, by the implementation of brushes for example.

As illustrated in FIG. 5, the robot 2 further comprises a control device taking the form of a microprocessor mP connected to the drive motor 221 of the wheels, to the means for collecting effluents 231 by suction and possibly to a movable shutter 28, and connected to a data storage memory M.

The electric battery(ies) supply electrical energy to the wheel drive motor(s) 221 and the effluent collection means 231 by suction.

The technique for guiding robot 2, which is implemented in the example illustrated in FIG. 1, is that of laser guiding. This guidance technique is known per se to those skilled in the art and is therefore not described in detail.

Alternatively, it could be electromagnetic wire guidance, with the robot following, in this case, a wire buried in the ground.

In the embodiment described, the tank R of the robot 2 comprises an opening for introducing the aspirated effluents and an opening for discharging the effluents located, for example, at the bottom of the tank R (not shown) which allows the emptying of the tank R.

In another embodiment, it is one and the same opening.

The means for collecting the effluents 231 by suction from the robot 2 comprise a vacuum pump (not shown) creating a depression in the tank R so as to suck up the effluents strewn on the surface to be cleaned during the movement of the robot 2. The scraper 23 located at the front makes it possible to condense the effluents at the level of a closable mouth 26 or collection or suction hatch. In this embodiment, the scraper 23 further comprises a closable mouth 27 or hatch for the evacuation or emptying of the effluents stored from the tank R.

Alternatively, the collection mouth 26 and the evacuation or drain mouth 27 are one and the same mouth intended to collect the effluents towards the tank when the robot moves to collect the effluents on the surface to be cleaned but also to evacuate the effluents when the tank is emptied.

Figures 3 and 4 are bottom views of the robot 2 of Figure 2 showing the suction 26 and 27 effluent discharge mouths without (for the sake of clarity) and with the shutter mechanism respectively.

The evacuation mouth 27 is closed when the robot 2 sucks up the effluents on the surface to be cleaned by means of the collection mouth 26 (FIG. 4) and open at the level of a terminal for emptying and cleaning the tank of the robot (the collection mouth 26 then being closed) as will be seen later in connection with FIGS. 6 and 7. The shutter mechanism is a movable shutter 28 whose sliding movement is ensured by a jack.

In other words, in the example shown, the suction and the emptying are done at the front of the robot 2, at the front of the scraper 23, by two separate mouths 26, 27. Depending on the position of the movable flap 28, when one mouth is open, the other is closed, and vice versa.

A level sensor 25 (FIG. 5), such as a float, makes it possible to determine when the reservoir R is full or at least that a predetermined filling level of the reservoir R has been reached. This level sensor 25 controls, through the mP control device of the robot 2, the stopping of the effluent suction pump while maintaining the pressure in the tank so that the effluent does not come out of the tank R.

The robot 2 then moves to an emptying and rinsing terminal 3 of the installation 1 which comprises emptying means 31 here in the form of a pit made in the ground and connected to a storage tank /reception of the effluents flowing from tank R of robot 2.

Figures 6 and 7 are bottom and top views respectively of the robot 2 and of the device for cleaning the tank R for storing the effluents of said robot 2.

In accordance with the invention, the drain and rinsing terminal 3 of the installation 1 also implements means 32 for cleaning the tank R of the robot 2 once this tank R has been drained. Indeed, as underlined previously, the emptying of reservoir R is rarely complete since there sometimes persists solid residues of effluents in reservoir R which can sometimes constitute 70 to 80% of the volume of reservoir R.

The robot 2 is positioned above a pit in which is positioned a cleaning arm 320 for supplying cleaning fluid. This arm is rigid here and can be articulated. Two flexible pipes 321 are secured to the free end of this cleaning arm 320. The other end of these two flexible pipes 321 is secured to a central rail 322 overhanging the drain pit, the two ends of the pipes 321 protruding from the rail 322 being oriented towards the underside of the robot 2, facing the evacuation mouth 27 (the collection mouth 26 being closed by the movable flap 28).

A fluid, such as slurry or clean water, for example, is sent to the tank R of the robot 2 to ensure perfect emptying of the tank R. In this example, the cleaning fluid is directed from the ends of the pipes 321 to the reservoir R via the outlet 27 which is open.

This rinsing is carried out for a predetermined period of time, with a predefined fluid flow rate and pressure. It allows a complete emptying of the tank with little or no residue.

This rinsing allows an emptying time up to ten times faster than a simple emptying, described in relation to the prior art, not implementing the invention.

This rinsing can be triggered manually (the user can start the rinsing operation by pressing a button located on the terminal) or automatically.

The cleaning fluid loaded with residues coming from the reservoir R flows from the reservoir R into the emptying means 31 (pit) of the draining and rinsing terminal 3 via the outlet 27 which is open.

Once draining and rinsing have been completed, robot 2 can resume its cleaning cycle for installation 1.

A single flexible cleaning hose or more than two could be provided.

Furthermore, the cleaning hose(s) could be equipped with a fluid orientation mechanism (pivoting head) to further improve the rinsing of the tank.

Rinsing can be done through the collection mouth 26 or through another orifice for injecting cleaning fluid into the tank. Thus, according to a particular implementation (not illustrated), the robot 2 comprises at least one specific opening for introducing the rinsing fluid towards the reservoir R, the rinsing fluid and the rest of the effluents then flowing from the reservoir R towards the pit of the drain and rinsing terminal 3 via the mouth or mouths 26, the mouth or mouths 27 and/or said at least one specific opening. This specific opening is distinct from outlets 26 and 27 and is only dedicated to rinsing tank R.

As illustrated in the embodiment of Figure 1, activation means taking the form of a stop B located on the ground near the drain and rinsing terminal 3 is intended to ensure, during the passage of the robot close to the stop B and before emptying (that is to say when the robot 2 approaches the emptying and rinsing terminal 3), the movement of the movable flap 28 so as to allow the closing of the robot 2's collection mouth and robot 2's exhaust mouth opening.

Once the tank R has been emptied and rinsed (that is to say when the robot 2 leaves the emptying and rinsing terminal 3), the movement of the movable shutter 28 by the associated cylinder allows the opening of the mouth 26 of collection of robot 2 and closing of mouth 27 of evacuation of robot 2.

The robot of the invention can be implemented in any type of livestock building or livestock penning, such as a barn, a shed, a barn, a pigsty or a stable. It can be implemented in buildings for raising cattle, poultry, ducks, etc.

It is understood that the robot according to the invention can be implemented outdoors.

Of course, the invention is not limited to the embodiment described and variant embodiments can be added thereto without departing from the scope of the invention as defined by the claims.

Other means of movement of the robot and other sources of energy can be implemented.

It is also possible to provide for the implementation of several robots in accordance with the invention in a breeding facility in accordance with the invention.

Rather than guidance by laser or by a wire buried in the ground, the robot can be guided by following a magnetic track or tape that is buried or glued to the ground.

As variants, the technique for guiding the robot can be a technique for guiding by vision (optoguiding, for example), by geolocation, or by laser (LIDAR), in particular.

It could also be cable guidance or inertial guidance (with gyroscope) or any other solution known to those skilled in the art which would allow the robot to move independently.

The number of cleaning cycles of the surface to be cleaned per day and the time of the cycles can be programmed by the user and memorized in the storage memory M connected to the microprocessor mP of the robot.

This programming and the control of the robot can be carried out remotely by the user, through a dedicated application implemented on a mobile terminal (smartphone, tablet, etc.) and a Bluetooth-type wireless link ( trademark), for example.

The robot of the invention is suitable for collecting materials other than livestock effluents, in particular water.

The recharging of the battery(ies) of the robot 2 is done on a recharging terminal placed in the installation. This recharging of the robot with electrical energy can be carried out every 2 hours, for example. To do this, the robot 2 is equipped on the outer surface of the chassis with recharging means in the form of an electrical connection element.

Furthermore, the robot 2 includes an on/off button.

Installation 1 may include one or more emptying and cleaning terminals and one or more electric charging terminals.

Rather than mechanical stops, activation means such as cells can control the movement of the movable flap 28 so as to allow the opening and closing of the mouths 26, 27 of the robot 2 when the robot 2 approaches or away from a drain and cleaning terminal 3.

These cells can be optical transmitters (infrared for example) which cooperate with one or more optical detection sensor(s) placed on the robot 2.

This detection sensor 26 controls the movable shutter 28, through the microprocessor mP, so as to open or close the vents 26, 27 (FIG. 5).

Any other means to ensure the presence of the robot at the level of the emptying and rinsing terminal can be implemented.

In particular embodiments, the robot has one or more collection mouths and one or more effluent discharge or emptying mouths.

The cleaning fluid can be injected into the tank of the robot by this or these collection mouths and/or this or these evacuation mouths (in this case, the closing mechanism of the mouths allows the simultaneous opening of the mouths collection and disposal). The cleaning fluid can flow from the tank through the collection port(s) and/or the exhaust port(s).

Furthermore, the robot may include one or more specific openings for injecting the cleaning fluid. In this case, the robot further comprises one or more collection outlets and one or more exhaust outlets, or one or more collection outlets also acting as exhaust outlets. The cleaning fluid injected into the tank is then evacuated by at least one of said specific mouth(s), mouth(s) 26 for collection and/or mouth(s) 27 for evacuation.

The robot is suitable for collecting effluent on the floor of an installation or on any other surface of installation equipment (cubicle, for example).

Claims (16)

Installation for breeding (1) animals comprising at least one mobile vehicle (2) provided with means (231) for collecting effluents located on a surface of the installation, with a tank (R) intended to store the effluents collected, at least one closable mouth (26) for collecting effluent located on said surface connected to the tank (R) and at least one mouth (27) for discharging effluent from the tank (R),
the installation being characterized in that it further comprises means (31) for draining the tank (R) of the vehicle (2) and means (32) for cleaning said tank (R) by injection of a cleaning in the tank (R). Breeding installation (1) according to claim 1, characterized in that the emptying means (31) of the tank (R) of the vehicle (2) and the cleaning means (32) of the said tank (R) are arranged in a drain and cleaning terminal (3) of the installation (1). Breeding installation (1) according to claim 1 or 2, characterized in that the cleaning fluid is a liquid, such as water or slurry Breeding installation (1) according to Claim 1 or 2, characterized in that the cleaning fluid is a gas, such as air. Breeding installation (1) according to one of Claims 1 to 4, characterized in that the cleaning fluid is injected into the tank (R) of the vehicle (2) by the said at least one outlet (27) effluent from the tank (R) and is then evacuated through this same mouth (27) and/or by said at least one mouth (26) for collection. Breeding installation (1) according to one of Claims 1 to 4, characterized in that the cleaning fluid is injected into the tank (R) of the vehicle (2) by at least one specific mouth for injecting the fluid of cleaning and is then evacuated through at least one of said specific mouth(s), collection mouth(s) (26) and discharge mouth(s) (27). Breeding installation (1) according to one of Claims 1 to 6, characterized in that the said means (32) for cleaning the tank comprise at least one pipe (321) for supplying the cleaning fluid able to communicate fluidically with said mouth (27) for discharging the effluents of the mobile vehicle (2) or the specific mouth for injecting the cleaning fluid. Breeding installation (1) according to one of Claims 1 to 7, characterized in that the said means (32) for cleaning the reservoir comprise a device for directing the cleaning fluid. Breeding installation (1) according to one of Claims 1 to 8, characterized in that the said means (32) for cleaning the tank are fluidically connected to a water network and/or to a slurry storage tank. Breeding installation (1) according to one of Claims 1 to 9, characterized in that the said at least one mouth (26) for collecting the effluents connected to the tank (R) and the said at least one mouth (27) for the The evacuation of the effluents from the tank (R) are two separate mouths. Breeding installation (1) according to one of Claims 1 to 9, characterized in that the said at least one outlet (26) for collecting the effluents situated connected to the tank (R) and the said at least one outlet (27) for the evacuation of the effluents from the tank (R) are one and the same mouth. Breeding installation (1) according to one of Claims 2 to 10, characterized in that the said emptying and cleaning terminal (3) is associated with means for closing the said at least one mouth (26) for collecting effluents from the vehicle (2) and opening of said at least one outlet (27) for evacuating effluents from the vehicle (2) so as to allow emptying of the tank (R) of the vehicle (2) at the level of said terminal emptying and cleaning (3). Breeding installation (1) according to claim 12, characterized in that it comprises activation means intended to ensure, when the vehicle approaches the emptying and cleaning terminal (3), the closing of the said at least one outlet (26) for collecting effluent from the vehicle (2) and the opening of said at least one outlet (27) for discharging effluent. Mobile vehicle (2) intended to be used in an installation according to one of Claims 1 to 13, characterized in that it comprises means (23) for collecting the effluents located on a surface of the installation, d a tank (R) intended to store the collected effluents, at least one closing mouth (26) for collecting the effluents situated on the said surface of the installation connected to the tank (R), at least one mouth (27 ) closable for the evacuation of effluents from the tank (R), said vehicle (2) comprising at least one mouth for injecting a cleaning fluid into the tank (R). Mobile vehicle (2) according to Claim 14, characterized in that the said at least one mouth for injecting a cleaning fluid into the reservoir (R) is the mouth (27) for the evacuation of the effluents from the reservoir ( R) or a specific injection port opening into the tank (R). Mobile vehicle (2) according to Claim 14 or 15, characterized in that it comprises scraping means (23) for the effluents situated on a surface of the installation, the said scraping means (23) being situated at the front of the vehicle (2), said at least one mouth (26) for collecting effluents and said at least one mouth (27) for discharging effluents being located in front of the scraping means (23).