Chicken house cleaning robot control system and control method

Abstract

The invention relates to the technical field of automatic equipment and breeding, and discloses a henhouse cleaning robot control system comprising a cleaning robot used for moving along a preset path in a henhouse to perform automatic cleaning operation; the high-pressure cleaning machine is used for providing a high-pressure water source and is connected to the cleaning robot through a high-pressure water pipe; the control module is used for integrally coordinating and controlling various functions of the cleaning robot, including moving, cleaning, navigation and pipe reeling operation; the function module is used for realizing control and execution of specific operation functions; the invention further discloses a control method of the henhouse cleaning robot. By adopting the cleaning robot and the high-pressure cleaning machine, high automation of the chicken coop cleaning process is achieved, comprehensive cleaning of the chicken coop can be completed according to a preset path and steps, and the burden of manual operation is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment and breeding technology, and in particular to a chicken house cleaning robot control system and a control method. Background Art

[0002] Chicken and eggs are important animal foods for humans and are widely loved by people all over the world. Chicken farming is a major component of the poultry farming industry, and its production efficiency and market demand are both in a leading position. Global chicken production accounts for more than 60% of the total poultry meat production. Chicken house cleaning, as an important part of the farming process, plays an important role in maintaining environmental hygiene in the chicken house, preventing diseases and improving the efficiency of chicken farming. However, chicken house cleaning currently relies mainly on manual operations, which poses many problems and challenges.

[0003] The existing chicken house cleaning method mainly uses workers to flush with handheld spray guns, which has obvious defects. First, manual cleaning is labor-intensive. Workers work for a long time under the load of the spray gun and are easily fatigued, resulting in low work efficiency and unstable cleaning effect. Secondly, the environment during the cleaning process is harsh, humid and full of dirt, posing a threat to the health of workers. In addition, manual cleaning is difficult to achieve uniform standards, the cleaning effect varies from person to person, and it is difficult to reach the high places and narrow corners in the chicken house, which is prone to problems of missing or repeated cleaning. Finally, manually adjusting the high-pressure water pipe is time-consuming and labor-intensive, and it is easy to cause the high-pressure water pipe to be entangled or pulled, affecting the cleaning efficiency and safety.

[0004] Therefore, we need to design a chicken house cleaning robot control system and control method to solve the above problems. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a chicken house cleaning robot control system and control method, which solves the problems of high labor intensity, inconsistent cleaning effects, difficulty in comprehensive coverage and difficult management of high-pressure water pipes in traditional manual chicken house cleaning.

[0006] According to one aspect of the present invention, a chicken house cleaning robot control system is provided, comprising:

[0007] A cleaning robot, the cleaning robot is used to move along a preset path in the chicken house to perform automated cleaning operations;

[0008] A high-pressure cleaning machine, which is used to provide a high-pressure water source and is connected to the cleaning robot through a high-pressure water pipe;

[0009] A control module, which is used to coordinate and control the various functions of the cleaning robot as a whole, including movement, cleaning, navigation and pipe winding operations;

[0010] Functional module, the functional module is used to realize the control and execution of specific operation functions.

[0011] Preferably, the cleaning robot comprises:

[0012] A mobile chassis, which is used to detect magnetic nails or magnetic strips on the floor of the chicken house to ensure that the cleaning robot moves along a preset path;

[0013] A lifting mechanism, wherein the lifting mechanism is arranged on a mobile chassis;

[0014] A robotic arm, which is a 6-DOF robotic arm, is mounted on a lifting mechanism. The robotic arm holds a spray gun, which is connected to a high-pressure cleaning machine through a high-pressure water pipe. The robotic arm is used to flexibly adjust the position and angle to clean various parts of the chicken house with the spray gun; the lifting mechanism is used to control the height adjustment of the robotic arm to cover cleaning areas at different heights, including the ceiling and multi-layer chicken cages;

[0015] An automatic hose reel is provided on a mobile chassis and is used to realize automatic release and recovery of the high-pressure water hose, ensuring that the high-pressure water hose is always properly tensioned during the cleaning process.

[0016] Preferably, the control module includes:

[0017] An operating handle, which is used to manually control various functions of the cleaning robot, including the lifting control of the lifting mechanism, the forward and backward movement and left and right steering movement control of the mobile chassis, and the start, pause and stop control of the cleaning task;

[0018] A cleaning robot controller, the cleaning robot controller is connected to the operating handle, the cleaning robot controller integrates multiple functional modules, including a cleaning task control module, a navigation module, a mechanical arm control module and a coil control module, and the cleaning robot controller is used to realize the automatic cleaning function of the cleaning robot;

[0019] The chassis controller integrates multiple functional modules, including a chassis communication module, a chassis control module and a lifting control module. The chassis controller is connected to the cleaning robot controller through the chassis communication module. The chassis controller is used to control the forward and backward movement and left and right steering of the mobile chassis, as well as control the lifting and lowering of the lifting mechanism.

[0020] Preferably, the functional modules include:

[0021] A cleaning task control module, which is used to control the start, pause and stop of the automatic cleaning task of the cleaning robot;

[0022] A navigation module, the navigation module is used to control the cleaning robot to move along a predefined straight path in the chicken house passage;

[0023] A robot arm control module, which is used to control the movement of the robot arm to achieve cleaning of any position and angle of the chicken house;

[0024] A hose reel control module, which is used to control the automatic release and recovery of the high-pressure water hose, so that the release and recovery speed of the high-pressure water hose automatically adapts to the moving speed of the mobile chassis;

[0025] A chassis control module, the chassis control module is used to control the movement of the mobile chassis, including forward, backward and steering;

[0026] A lifting control module, which is used to control the height adjustment of the lifting mechanism to cover the cleaning of multi-layer chicken cages at different heights in the chicken house;

[0027] The chassis communication module is used to connect the cleaning robot controller with the chassis controller, to receive commands from the cleaning robot controller to control the movement and lifting of the mobile chassis, and to feed back the mobile chassis status and lifting status to the cleaning robot controller.

[0028] According to another aspect of the present invention, a method for controlling a chicken house cleaning robot is provided, comprising the following steps:

[0029] S1, control the cleaning robot to move to the starting position of the chicken house cleaning channel;

[0030] S2, start the lifting mechanism to lift the robotic arm to the target height, and inject gas into the protective cover;

[0031] S3, control the cleaning robot to move forward along a predefined straight path, start the robotic arm and spray gun for cleaning at each station, and clean the chicken cages on the left and right sides of the upper layer one by one;

[0032] S4, determining whether the cleaning robot has reached the end position of the current cleaning channel, if so, executing the lowering operation of the lifting mechanism, if not, continuing to move forward and perform the cleaning operation;

[0033] S5, controlling the cleaning robot to return to the starting position of the current cleaning channel;

[0034] S6, control the cleaning robot to move forward along the current cleaning channel, and clean the chicken cages on the left and right sides of the lower layer one by one;

[0035] S7, determining whether the cleaning robot has reached the end position of the current cleaning channel, if so, controlling the cleaning robot to return to the starting position, if not, continuing to move forward and perform cleaning operations;

[0036] S8, determine whether the current cleaning channel is the last cleaning channel, if yes, the cleaning task is finished, if not, control the cleaning robot to enter the next cleaning channel and repeat the above steps;

[0037] In the above steps S5 and S7, the cleaning robot cleans the chicken cages on both sides one by one in a backward manner during the process of retreating;

[0038] The cleaning robot cleans the chicken cages on both sides one by one during the forward and backward processes. When the cleaning robot moves forward or backward, the automatic hose reel needs to release or recycle the high-pressure water pipe. By real-time monitoring of the motor current of the automatic hose reel, the release or recycle speed of the automatic hose reel is adjusted according to the current changes.

[0039] Preferably, the step S1 specifically includes the following steps:

[0040] S1.1, start the cleaning robot controller;

[0041] S1.2. Activate the magnetic nail navigation system through the navigation module;

[0042] S1.3, the navigation sensor detects the ground magnetic nail or magnetic strip signal and controls the cleaning robot to move along the preset path;

[0043] S1.4. When reaching the preset starting position, the cleaning robot stops moving and prepares to proceed to the next step.

[0044] Preferably, the step S2 specifically includes the following steps:

[0045] S2.1. The operating handle controls the lifting mechanism to rise;

[0046] S2.2. Monitor the height of the robotic arm to ensure that the robotic arm reaches the preset cleaning height;

[0047] S2.3. Simultaneously start the air compressor to inject gas into the protective cover;

[0048] S2.4. Keep the air pressure inside the protective cover consistent with the external air pressure to prevent outside air from entering.

[0049] Preferably, the step S3 specifically includes the following steps:

[0050] S3.1, start the navigation module to control the cleaning robot to move along a predefined path;

[0051] S3.2, when arriving at each preset station, the cleaning robot stops moving;

[0052] S3.3, start the robot arm control module and position the spray gun to the target cleaning area;

[0053] S3.4, start the spray gun and perform high-pressure water jet cleaning;

[0054] S3.5. After cleaning is completed, the robotic arm returns to its initial position and the cleaning robot continues to move forward.

[0055] Preferably, the step S4 specifically includes the following steps:

[0056] S4.1. Use the navigation system to detect the end mark of the preset path;

[0057] S4.2, if the end point is reached, the cleaning robot stops moving forward;

[0058] S4.3, start the lifting control module to control the lifting mechanism to lower the robotic arm to the initial position;

[0059] S4.4. If the end point has not been reached, continue forward and repeat the cleaning operation.

[0060] Preferably, when the cleaning robot moves forward, the automatic tube reel needs to release the high-pressure water pipe, start the tube reel control module, and monitor the current of the automatic tube reel motor in real time. If the release speed of the automatic tube reel is slower than the forward speed of the mobile chassis, the high-pressure water pipe is tensioned, the release torque required by the automatic tube reel motor is reduced, and the current is reduced. At this time, the release speed of the automatic tube reel should be increased; if the release speed of the automatic tube reel is faster than the forward speed of the mobile chassis, the tension of the high-pressure water pipe becomes loose, the release torque required by the automatic tube reel motor is increased, and the current is increased. At this time, the release speed of the automatic tube reel should be reduced. speed; when the cleaning robot retreats backward, the automatic tube reel needs to recycle the high-pressure water pipe, start the tube reel control module, and monitor the current of the automatic tube reel motor in real time. If the recovery speed of the automatic tube reel is slower than the retreat speed of the mobile chassis, the tension of the high-pressure water pipe becomes loose, the recovery torque required by the automatic tube reel motor becomes smaller, and the current decreases. At this time, the recovery speed of the automatic tube reel needs to be increased; if the recovery speed of the automatic tube reel is faster than the retreat speed of the mobile chassis, the high-pressure water pipe is tensioned, the recovery torque required by the automatic tube reel becomes larger, and the current increases. At this time, the recovery speed of the automatic tube reel needs to be slowed down.

[0061] Beneficial effects of the present invention:

[0062] 1. The present invention realizes a high degree of automation in the chicken house cleaning process by adopting a cleaning robot and a high-pressure cleaning machine. It can complete the comprehensive cleaning of the chicken house according to preset paths and steps without human intervention, greatly reducing the burden of manual operation.

[0063] 2. The present invention ensures that the high-pressure water pipe always maintains an appropriate tension state by real-time monitoring of the motor current of the automatic pipe reel and adjusting the release and recovery speed of the automatic pipe reel, thereby avoiding the problem of entanglement or pulling of the high-pressure water pipe during the cleaning process and improving the cleaning efficiency.

[0064] 3. Through the combination of the operating handle and the control module, the operator can manually control the cleaning robot to perform operations such as lifting, moving forward, moving backward and turning, which has strong flexibility; at the same time, the automation function module can also realize unattended automatic cleaning under the set program. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 This is a schematic diagram of the structure of the cleaning robot of the present invention;

[0066] Figure 2 is a flow chart of the control module of the present invention;

[0067] Figure 3 This is a schematic diagram of the cleaning robot of the present invention in a usage scenario.

[0068] Among them, 1. Mobile chassis; 2. Robotic arm; 3. Lifting mechanism; 4. Automatic pipe reel; 5. Protective cover; 6. Air compressor; 7. High-pressure water pipe; 8. Spray gun; 9. Chicken cage; 10. Magnetic nails or magnetic strips; 11. Cleaning channel. DETAILED DESCRIPTION

[0069] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] Example 1

[0071] Please refer to the attached Figure 1-3 The present invention provides a chicken house cleaning robot control system, comprising:

[0072] A cleaning robot, which can be operated mobile and is used to move along a preset path in the chicken house to perform automated cleaning operations;

[0073] A high-pressure cleaning machine, which is connected to the cleaning robot via a high-pressure water pipe 7 and is fixedly arranged outside the chicken house to provide a high-pressure water source;

[0074] Control module, which is used to coordinate and control the various functions of the cleaning robot as a whole, including movement, cleaning, navigation and tube reeling operation;

[0075] Functional module: Functional module is used to realize the control and execution of specific operation functions.

[0076] Specifically, the cleaning robot includes multiple submodules, such as a mobile chassis 1, a mechanical arm 2, a lifting mechanism 3, and an automatic hose reel 4. The mobile chassis 1 uses a magnetic nail navigation method to ensure that the cleaning robot travels in a straight line along the long straight channel of the chicken house. The mechanical arm 2 is installed on the lifting mechanism 3 and can cover the cleaning of the chicken house ceiling and the four-layer chicken cage 9. The automatic hose reel 4 realizes the automatic release and recovery of the high-pressure water pipe 7.

[0077] This design can realize fully automated cleaning operations, avoid the inconsistency of manual operations, and improve the stability and consistency of the cleaning effect. At the same time, the high degree of freedom of the robot arm 2 and the lifting mechanism 3 make the cleaning coverage wider, and can clean areas that are difficult to reach manually. It solves the problems of high labor intensity, unstable cleaning effect, and health risks in existing manual cleaning operations. The automated cleaning robot solves these problems and provides an efficient, stable, and safe cleaning method.

[0078] The high-pressure cleaning machine is connected to the cleaning robot through a 100-meter-long high-pressure water pipe 7 to provide a high-pressure water source. Since the high-pressure cleaning machine is fixed and the cleaning robot is mobile, the distance between the high-pressure cleaning machine and the cleaning robot is constantly changing. An automatic hose reel 4 is used to release and recycle the high-pressure water pipe 7 to adapt to the constantly changing distance between the high-pressure cleaning machine and the cleaning robot.

[0079] The high-pressure cleaning machine can provide a continuous and stable high-pressure water source to ensure the efficiency and effectiveness of the cleaning operation. At the same time, the design of the automatic hose reel 4 allows the high-pressure water pipe 7 to be automatically adjusted as the cleaning robot moves, avoiding the cumbersome and inconvenient manual adjustment. It solves the problem that in traditional cleaning methods, the high-pressure water pipe needs to be adjusted manually, which is cumbersome and inconvenient to operate. Through the design of the automatic hose reel 4, the release and recovery of the high-pressure water pipe 7 is automated, reducing manual operations and improving work efficiency.

[0080] The control module coordinates and controls the various functions of the cleaning robot, including movement, cleaning, navigation and pipe rolling operations. The specific functional modules include navigation module, robotic arm control module, cleaning task management module and pipe rolling control module.

[0081] The control module realizes comprehensive control of the cleaning robot to ensure the coordinated work of various functions. The navigation module is responsible for the movement of the cleaning robot along the predefined path in the chicken house; the robot arm control module controls the movement of the robot arm 2 to achieve precise cleaning; the cleaning task management module manages the start, pause and stop of the cleaning task; the coil control module adjusts the release and recovery speed of the high-pressure water pipe 7 to adapt to the moving speed of the cleaning robot. It solves the problem that manual cleaning is difficult to achieve unified standards and the cleaning effect is unstable. Through the design of the control module, the automatic control of the cleaning robot is realized to ensure the standardization and efficiency of the cleaning operation.

[0082] The specific solution of the present invention is:

[0083] 1. Navigation control of mobile chassis 1

[0084] The mobile chassis 1 uses magnetic nail navigation to ensure that the cleaning robot drives straight along the long straight channel of the chicken house. This navigation method is simple and reliable, and can maintain stable path control in complex environments. It realizes precise positioning and path control of the cleaning robot, ensuring comprehensive coverage of the cleaning operation.

[0085] 2. Adaptive control of the tube reeling speed of the automatic tube reel

[0086] Since the diameter of the high-pressure water pipe 7 changes continuously during the release and recovery process, it is impossible to control the automatic hose reel 4 at a uniform speed. The present invention designs an adaptive hose reel speed control method to achieve adaptive matching of the release and recovery of the high-pressure water pipe 7 to the moving speed of the mobile chassis 1. The automatic hose reel 4 adjusts the release and recovery speed by real-time monitoring of the motor current.

[0087] When the cleaning robot moves forward, the automatic hose reel 4 needs to release the high-pressure water pipe 7. First, an initial release speed is given to the automatic hose reel 4 to release the high-pressure water pipe 7, and the motor current of the automatic hose reel 4 is monitored in real time. If the release speed of the automatic hose reel 4 is slower than the forward speed of the mobile chassis 1, the high-pressure water pipe 7 is tightened, the release torque required by the motor of the automatic hose reel 4 is reduced, and the current is reduced. At this time, the release speed of the automatic hose reel 4 should be increased; if the release speed of the automatic hose reel 4 is faster than the forward speed of the mobile chassis 1, the tension of the high-pressure water pipe 7 becomes loose, the release torque required by the motor of the automatic hose reel 4 is increased, and the current is increased. At this time, the release speed of the automatic hose reel 4 should be reduced.

[0088] Assuming that this is the i-th cycle, set the automatic hose reel release speed V l,i , adjust speed V la,i , speed adjustment base V ba , real-time current C, release the maximum current C in the stable speed adjustment range of the water pipe lmax , minimum current C lmin , adjustment factor A aj,i , at this time the automatic tube reel release speed V l,i The calculation is done by the following formula:

[0089]

[0090] V la，i =V la，i-1 +A aj，i ×V ba

[0091] V l，i=V l，i-1 +V la，i

[0092] When the cleaning robot retreats backward, the automatic hose reel 4 needs to recycle the high-pressure water pipe 7. First, an initial recycle speed is given to the automatic hose reel 4 to recycle the high-pressure water pipe 7, and the motor current of the automatic hose reel 4 is monitored in real time. If the recycle speed of the automatic hose reel 4 is slower than the retreat speed of the mobile chassis 1, the tension of the high-pressure water pipe 7 becomes loose, the recycle torque required by the motor of the automatic hose reel 4 becomes smaller, and the current decreases. At this time, the recycle speed of the automatic hose reel 4 needs to be increased; if the recycle speed of the automatic hose reel 4 is faster than the retreat speed of the mobile chassis 1, the high-pressure water pipe 7 is tightened, the recycle torque required by the automatic hose reel 4 becomes larger, and the current increases. At this time, the recycle speed of the automatic hose reel 4 needs to be slowed down.

[0093] Assuming that this is the i-th cycle, set the automatic tube reel recovery speed V t,i , adjust speed V ta,i , speed adjustment base V ba , real-time current C, maximum current C in the recovery stable speed adjustment range tmax , minimum current C tmin , adjustment coefficient A aj,i At this time, the automatic tube reel recovery speed V t,i The calculation is done by the following formula:

[0094]

[0095] V ta，i =V ta，i-1 +A aj，i ×V ba

[0096] V t，i =V t，i-1 +V ta，i

[0097] Cleaning robots include:

[0098] A mobile chassis 1, which is used to detect magnetic nails or magnetic strips 10 on the floor of the chicken house to ensure that the cleaning robot moves along a preset path;

[0099] A lifting mechanism 3, the lifting mechanism 3 is arranged on the mobile chassis 1;

[0100] The robot arm 2 is a 6-DOF robot arm, which is installed on the lifting mechanism 3. The robot arm 2 holds a spray gun 8, which is connected to the high-pressure cleaning machine through a high-pressure water pipe 7. The robot arm 2 is used to flexibly adjust the position and angle, and cooperate with the spray gun 8 to clean various parts of the chicken house; the lifting mechanism 3 is used to control the height adjustment of the robot arm 2 to cover cleaning areas at different heights, including the ceiling and multi-layer chicken cages 9;

[0101] The automatic hose reel 4 is arranged on the mobile chassis 1 and is used to realize the automatic release and recovery of the high-pressure water hose 7, so as to ensure that the high-pressure water hose 7 is always kept properly tensioned during the cleaning process.

[0102] In this embodiment, the cleaning robot further includes a protective cover 5 and an air compressor 6. The protective cover 5 is arranged outside the lifting mechanism 3, and the air compressor 6 is used to inject gas into the protective cover 5. During the cleaning process, when the lifting mechanism 3 is lifted or lowered, the protective cover 5 can be deformed accordingly, and the lifting mechanism 3 is always shielded inside by the protective cover 5, which effectively prevents the surrounding dirty objects from splashing onto the lifting mechanism 3 during the cleaning process, thereby reducing the probability of failure of the cleaning robot.

[0103] Specifically, the mobile chassis 1 is an AGV chassis, and the mobile chassis 1 is equipped with a magnetic nail or magnetic strip detection system (such as a navigation sensor is provided at the bottom of the AGV chassis), which can identify the magnetic nail or magnetic strip 10 on the ground in real time to ensure that the cleaning robot moves accurately along the preset path. The mobile chassis 1 also has the ability to adapt to terrain and can travel stably under different ground conditions.

[0104] Through the navigation of the magnetic nails or magnetic strips 10, the cleaning robot can move accurately along the predetermined path to ensure comprehensive coverage and cleaning of the entire chicken house. At the same time, the adaptive terrain function enables the cleaning robot to work stably under different ground conditions, improving the efficiency and reliability of cleaning. It solves the problem that traditional manual cleaning methods are prone to missed cleaning or repeated cleaning in large chicken houses. Through automatic navigation and path planning, this problem is solved and the cleaning efficiency and coverage are improved.

[0105] The robot arm 2 is a 6-DOF robot arm. Through the multi-joint design, its position and angle can be flexibly adjusted to cover the cleaning of all parts of the chicken house, including hard-to-reach corners and high places. The robot arm 2 is equipped with a spray gun 8, which can adjust the water pressure and spray angle according to the cleaning needs.

[0106] The flexibility and versatility of the robot arm 2 enables it to adapt to various complex cleaning tasks, ensuring that all areas can be thoroughly cleaned. The adjustment function of the spray gun 8 can provide the best cleaning effect according to different cleaning needs. The problem that traditional manual cleaning is difficult to cover high places and narrow corners is solved, and the 6-DOF robot arm can flexibly respond to various complex cleaning needs, solving this problem and ensuring comprehensive and thorough cleaning.

[0107] The lifting mechanism 3 is equipped with a height sensor and a precision control system, which can automatically adjust the height of the robot arm 2 according to the preset cleaning area, covering cleaning areas of different heights including the ceiling and the multi-layer chicken cage 9. The lifting mechanism 3 ensures the cleaning coverage of areas at different heights, especially high and low areas, further improving the comprehensiveness and efficiency of cleaning. It solves the problem that manual cleaning often cannot effectively cover areas at different heights, especially high and multi-layer structures. The design of the lifting mechanism 3 solves this problem and realizes all-round cleaning.

[0108] The automatic hose reel 4 adopts an intelligent control system to monitor the tension state of the high-pressure water hose 7 in real time, and automatically adjust the release and recovery speed of the high-pressure water hose 7 to ensure that the high-pressure water hose 7 always maintains proper tension during the cleaning process. The system can adaptively adjust the hose reel speed according to the moving speed of the mobile chassis 1.

[0109] The automatic hose reel 4 effectively prevents the high-pressure water hose 7 from getting entangled and hindering the movement of the mobile chassis 1, ensuring the smooth progress of the cleaning process. The intelligent adjustment function enables the hose reel speed to be adaptively matched with the moving speed of the mobile chassis, improving the cleaning efficiency and safety. The problem that the traditional manual adjustment of the high-pressure water hose 7 is not only time-consuming and labor-intensive, but also prone to entanglement or pulling of the high-pressure water hose 7 is solved. The automatic hose reel 4 solves this problem through intelligent control, ensuring the continuity and efficiency of the cleaning process.

[0110] The specific solution of the present invention is:

[0111] 1. Path navigation and adaptive terrain of mobile chassis 1

[0112] Through the magnetic nail or magnetic strip detection system, the ground marks are identified in real time to ensure that the cleaning robot moves along the preset path. The mobile chassis 1 is designed with an adaptive terrain system that can automatically adjust the driving state according to the ground conditions. The precise navigation and stable movement of the cleaning robot are realized to ensure comprehensive coverage of the cleaning path.

[0113] 2. Flexible adjustment of robot arm 2

[0114] The robot arm 2 is designed with multiple joints to achieve flexible adjustment of six degrees of freedom, and cooperates with the spray gun 8 to adjust the cleaning angle and pressure to cover all parts of the chicken house. It provides a full range of flexible cleaning capabilities to ensure that all areas can be thoroughly cleaned.

[0115] 3. Height adjustment of lifting mechanism 3

[0116] Through the height sensor and precision control system, the height of the robot arm 2 is automatically adjusted to cover cleaning areas at different heights, including the ceiling and multi-layer chicken cages 9. Cleaning coverage of areas at different heights is achieved, ensuring comprehensive cleaning.

[0117] 4. Intelligent control of automatic tube reel 4

[0118] The automatic hose reel monitors the tension state of the high-pressure water hose 7 in real time, and uses an adaptive control algorithm to adjust the release and recovery speed of the high-pressure water hose 7 according to the moving speed of the mobile chassis 1. This prevents the high-pressure water hose 7 from being entangled and pulled, ensures the smooth progress of the cleaning process, and improves the cleaning efficiency and safety.

[0119] The control module includes:

[0120] An operating handle, which is used to manually control various functions of the cleaning robot, including the lifting control of the lifting mechanism 3, the forward and backward movement and left and right steering movement control of the mobile chassis 1, and the start, pause and stop control of the cleaning task. The operating handle is also used to realize the automatic retraction control of the cleaning robot and the on / off control of the high-pressure cleaning machine;

[0121] A cleaning robot controller, which is connected to the operating handle. The cleaning robot controller integrates multiple functional modules, including a cleaning task control module, a navigation module, a robotic arm control module, and a tube reel control module. The cleaning robot controller is used to realize the automatic cleaning function of the cleaning robot;

[0122] Chassis controller, the chassis controller integrates multiple functional modules, including a chassis communication module, a chassis control module and a lifting control module. The chassis controller is connected to the cleaning robot controller through the chassis communication module. The chassis controller is used to control the forward and backward movement and left and right steering of the mobile chassis 1, as well as control the lifting and lowering of the lifting mechanism 3.

[0123] Specifically, the operating handle in the control module is designed as the main tool for human-machine interaction, which is highly flexible and convenient. The operating handle is equipped with multiple buttons and joysticks, through which users can control the various functions of the cleaning robot, including lifting, moving forward, backward, turning, and starting, pausing and stopping the cleaning task. The operating handle also has a wireless connection function, so users can remotely control the cleaning robot to avoid direct contact with the cleaning environment.

[0124] The operating handle enables users to control the cleaning robot conveniently and flexibly, greatly improving the convenience and safety of operation. The wireless connection function further improves the user's operating freedom and safety, avoiding direct operation in humid and polluted environments. It solves the problem of inconvenience and safety hazards of traditional manual operation, especially in humid and polluted environments. The operating handle solves this problem through wireless connection and multi-functional design, ensuring the convenience and safety of operation.

[0125] The cleaning robot controller is the core of the robot's automated operation. The cleaning robot controller is installed on the cleaning robot and integrates multiple functional modules, including the cleaning task control module, navigation module, robotic arm control module, and coil control module. Each module is responsible for the corresponding function and works together to realize the fully automatic cleaning operation of the cleaning robot.

[0126] The cleaning robot controller realizes efficient coordination and control of various functions of the cleaning robot through modular design. The collaborative work between different modules enables the cleaning robot to automatically complete the whole process from navigation, positioning, cleaning to tube winding, improving the cleaning efficiency and operation quality. It solves the problem that traditional cleaning methods are difficult to achieve full automation and efficient coordination. By integrating multiple functional modules, the cleaning robot controller solves this problem and realizes efficient automation and coordinated control of robot operation.

[0127] Chassis controller, the chassis controller is arranged in the mobile chassis 1, and the chassis controller integrates multiple functional modules, including a chassis communication module, a chassis control module and a lifting control module. The chassis controller is connected to the cleaning robot controller through the chassis communication module. The chassis controller is used to control the forward and backward movement and left and right steering of the mobile chassis 1, as well as control the lifting and lowering of the lifting mechanism 3.

[0128] The chassis controller receives instructions from the cleaning robot controller. Specifically, the chassis controller receives instructions from the navigation module to accurately control the movement path of the cleaning robot in the chicken house to ensure comprehensive cleaning coverage. The precise control capability of the chassis controller ensures the stability and accuracy of the cleaning robot's movement, ensuring that the cleaning robot can operate according to the preset path to avoid omissions and repeated cleaning. This solves the problem that traditional manual cleaning is difficult to achieve precise path control and is prone to omissions and repeated cleaning. The chassis controller solves this problem by accurately controlling the movement of the cleaning robot, ensuring comprehensive coverage of the cleaning path.

[0129] The specific solution of the present invention is:

[0130] 1. Design and function of the operating handle

[0131] The multifunctional operating handle is designed with buttons and joysticks. Users can use the operating handle to lift, move forward, move backward, turn, and start, pause and stop cleaning tasks. The operating handle also has a wireless connection function, so users can remotely control the cleaning robot. This improves the convenience and flexibility of operation, ensuring that users can operate at a safe distance and avoid direct contact with the polluted environment.

[0132] 2. Modular design of cleaning robot controller

[0133] The cleaning robot controller integrates the cleaning task control module, navigation module, robotic arm control module and coil control module. Each module works together to realize the fully automatic cleaning operation of the cleaning robot. It realizes the efficient automatic operation of the cleaning robot, ensures the coordinated work of each functional module, and improves the cleaning efficiency and quality.

[0134] 3. Precise control of chassis controller

[0135] The chassis controller integrates the chassis communication module, chassis control module and lifting control module. The chassis controller receives instructions from the cleaning robot controller. Specifically, the chassis controller receives instructions from the navigation module to accurately control the forward and backward movement and left and right steering of the mobile chassis 1 to ensure that the cleaning robot moves along the preset path. Ensure full coverage of the cleaning path, avoid omissions and repeated cleaning, and improve cleaning efficiency.

[0136] Navigation and control algorithms in the present invention:

[0137] Path tracking algorithm: The chassis controller uses the PID control algorithm to accurately control the path tracking of the robot. Set the path deviation to e(t) and the control output to u(t). The PID control algorithm is as follows:

[0138]

[0139] in:

[0140] K p is the proportional gain

[0141] K i is the integral gain

[0142] K d is the differential gain

[0143] Functional modules include:

[0144] A cleaning task control module, which is used to control the start, pause and stop of the automatic cleaning task of the cleaning robot;

[0145] A navigation module, the navigation module is used to control the cleaning robot to move along a predefined straight path in the chicken house channel;

[0146] The robot arm control module is used to control the movement of the robot arm 2 to achieve cleaning of any position and angle of the chicken house;

[0147] A hose reel control module, which is used to control the automatic release and recovery of the high-pressure water hose 7, so that the release and recovery speed of the high-pressure water hose 7 automatically adapts to the moving speed of the mobile chassis 1;

[0148] A chassis control module, which is used to control the movement of the mobile chassis 1, including forward, backward and steering;

[0149] A lifting control module, which is used to control the height adjustment of the lifting mechanism 3 to cover the cleaning of multi-layer chicken cages 9 at different heights in the chicken house;

[0150] The chassis communication module is used to connect the cleaning robot controller with the chassis controller, to receive commands from the cleaning robot controller to control the movement and lifting of the mobile chassis 1, and to feed back the mobile chassis status and lifting status to the cleaning robot controller.

[0151] Specifically, the cleaning task control module has the ability to manage the entire cleaning task, including starting, pausing and stopping the cleaning task. The module can work in conjunction with other functional modules to ensure smooth switching of tasks between different states. The cleaning task control module ensures the orderly progress of the cleaning process, can flexibly adjust the task status as needed, avoid cleaning failures caused by task interruptions or abnormal situations, and improve the stability and reliability of the cleaning operation. It solves the problem that traditional manual cleaning is difficult to maintain a consistent work rhythm and state transition. Through the automated control module, the orderly management and flexible adjustment of cleaning tasks are achieved, solving the uncontrollability and inconsistency of manual operations.

[0152] The navigation module uses magnetic nail or magnetic strip detection technology to ensure that the cleaning robot moves accurately along a predefined straight path in the chicken house channel. The module has path planning and real-time correction capabilities, and can adjust the path according to environmental changes. The navigation module realizes the precise positioning and path tracking of the cleaning robot, ensuring the comprehensiveness and uniformity of cleaning coverage. The real-time correction capability improves the adaptability and flexibility of the cleaning robot in complex environments. It solves the problem of inaccurate path control in traditional cleaning methods, which is prone to missed cleaning and repeated cleaning. This problem is solved through the precise control of the navigation module, ensuring comprehensive coverage and efficient execution of the cleaning path.

[0153] The robot control module can flexibly control the movement of the robot 2 through a multi-joint design to achieve cleaning of any position and angle of the chicken house. The module supports high-precision motion control and multi-mode cleaning task execution. The robot control module provides highly flexible cleaning capabilities, which can cover all corners and high places in the chicken house to ensure comprehensive and thorough cleaning. The multi-mode cleaning function adapts to different cleaning needs and environmental conditions. It solves the problem that manual cleaning is difficult to reach high places and narrow areas. The robot control module solves this problem through flexible motion control and achieves comprehensive and thorough cleaning.

[0154] The hose reel control module adopts an intelligent control algorithm to monitor the tension state of the high-pressure water pipe 7 in real time, and automatically adjusts the release and recovery speed of the high-pressure water pipe 7 according to the moving speed of the mobile chassis 1 to ensure that the high-pressure water pipe 7 is always in a properly tensioned state. The hose reel control module solves the problem of preventing the high-pressure water pipe 7 from getting entangled and hindering the movement of the mobile chassis 1, ensuring the continuity and efficiency of the cleaning process. The intelligent control algorithm makes the management of the high-pressure water pipe 7 more efficient and reliable. At the same time, it solves the problem that the traditional manual adjustment of the high-pressure water pipe 7 is time-consuming and labor-intensive and prone to entanglement. The hose reel control module solves this problem through intelligent control, improving cleaning efficiency and safety.

[0155] The chassis control module is responsible for controlling the movement of the mobile chassis 1, including forward, backward and steering. The module supports multiple terrain adaptation and dynamic obstacle avoidance functions to ensure that the cleaning robot can travel stably in complex environments. The chassis control module ensures the stability and accuracy of the cleaning robot's movement, ensures the accurate execution of the cleaning path, and avoids omissions and repeated cleaning. The dynamic obstacle avoidance function improves the safety and adaptability of the cleaning robot in complex environments. It solves the problem that manual cleaning is difficult to achieve precise path control in complex environments. The chassis control module solves this problem through precise control and dynamic obstacle avoidance, ensuring comprehensive coverage and safe execution of the cleaning path.

[0156] The lifting control module is equipped with a height sensor and a precision control system, which can automatically adjust the height of the robot arm 2 according to the preset cleaning area, covering cleaning areas at different heights, including the ceiling and multi-layer chicken cages 9. The lifting control module ensures the cleaning coverage of areas at different heights, especially high and low areas, further improving the comprehensiveness and efficiency of cleaning. It solves the problem that manual cleaning often cannot effectively cover areas at different heights, especially high and multi-layer structures. The design of the lifting control module solves this problem and achieves all-round cleaning.

[0157] The chassis communication module is used to connect the cleaning robot controller with the chassis controller, to receive commands from the cleaning robot controller to control the movement and lifting of the mobile chassis 1, and to feed back the mobile chassis status and lifting status to the cleaning robot controller.

[0158] The specific solution of the present invention is:

[0159] 1. Full management of cleaning task control module

[0160] Through the integrated control panel, users can flexibly manage the start, pause and stop of cleaning tasks. The module works in conjunction with other functional modules to ensure smooth switching of tasks between different states. This improves the management efficiency and stability of cleaning tasks and ensures the continuity and orderly progress of the cleaning process.

[0161] 2. Precise path control of the navigation module

[0162] Through magnetic nail or magnetic strip detection technology, the navigation module tracks the predefined path in real time and has the ability to plan and correct the path to adapt to environmental changes. It realizes precise path control of the cleaning robot and ensures comprehensive coverage and efficient execution of the cleaning path.

[0163] 3. Flexible cleaning of the robot control module

[0164] The robot control module uses multi-joint design and high-precision motion control to flexibly adjust the movement of the robot 2 to cover cleaning at any position and angle in the chicken house. It provides highly flexible and comprehensive cleaning capabilities to ensure that all areas can be thoroughly cleaned.

[0165] 4. Intelligent management of coil control module

[0166] The hose reel control module monitors the tension state of the high-pressure water hose 7 in real time, and automatically adjusts the release and recovery speed of the high-pressure water hose 7 through an intelligent algorithm to adapt to the moving speed of the mobile chassis 1. It ensures that the high-pressure water hose 7 is always in a properly tensioned state to prevent entanglement and pulling, thereby improving cleaning efficiency and safety.

[0167] 5. Precise movement of chassis control module

[0168] The chassis control module accurately controls the forward, backward and steering of the mobile chassis 1 through precision control and dynamic obstacle avoidance functions to adapt to complex terrains. This ensures the stability and accuracy of the cleaning robot's movement and ensures full coverage and safe execution of the cleaning path.

[0169] 6. Height adjustment of lifting control module

[0170] The lifting control module automatically adjusts the height of the robot arm through the height sensor and precision control system to cover cleaning areas at different heights. It achieves cleaning coverage of areas at different heights and ensures comprehensiveness and efficiency of cleaning.

[0171] 7.Chassis communication module communication connection

[0172] The chassis communication module is used to connect the cleaning robot controller with the chassis controller, to receive commands from the cleaning robot controller to control the movement and lifting of the mobile chassis 1, and to feed back the mobile chassis status and lifting status to the cleaning robot controller.

[0173] Example 2

[0174] Please refer to the attached Figure 1-3 The present invention also provides a chicken house cleaning robot control method, comprising the following steps:

[0175] S1, control the cleaning robot to move to the starting position of the chicken house cleaning channel 11;

[0176] S2, start the lifting mechanism 3 to lift the robot arm 2 to the target height, and inject gas into the protective cover 5;

[0177] S3, control the cleaning robot to move forward along a predefined straight path, start the mechanical arm 2 and the spray gun 8 to clean each station, and clean the chicken cages 9 on the left and right sides of the upper layer one by one;

[0178] S4, determine whether the cleaning robot has reached the end position of the current cleaning channel 11, if yes, execute the lowering operation of the lifting mechanism 3, if not, continue to move forward and clean;

[0179] S5, controlling the cleaning robot to return to the starting position of the current cleaning channel 11;

[0180] S6, control the cleaning robot to move forward along the current cleaning channel 11, and clean the chicken cages 9 on the left and right sides of the lower layer one by one;

[0181] S7, determining whether the cleaning robot has reached the end position of the current cleaning channel 11, if so, controlling the cleaning robot to return to the starting position, if not, continuing to move forward and perform cleaning operations;

[0182] S8, determine whether the current cleaning channel 11 is the last cleaning channel 11, if yes, the cleaning task is finished, if not, control the cleaning robot to enter the next cleaning channel 11 and repeat the above steps;

[0183] In the above steps S5 and S7, the cleaning robot cleans the chicken cages 9 on both sides one by one in a reverse manner during the process of retreating; in other words, the cleaning robot retreats through each station in turn, and during this process the spray gun 8 sprays water to the chicken cages 9 on the left and right sides for cleaning.

[0184] The above scheme provides a cleaning robot control method, such as Figure 3 As shown, the cleaning robot can be automatically controlled to move along the cleaning channel 11 to clean each layer of the chicken cages 9 in turn. After one cleaning channel 11 is cleaned, it will automatically move to the next cleaning channel 11 for cleaning, with a high degree of automation.

[0185] like Figure 3 As shown, in actual usage scenarios, a row of chicken cages 9 can be arranged on both sides of a cleaning channel 11. The cleaning robot can automatically complete the cleaning process of multiple rows of chicken cages 9 and multi-layer chicken cages 9 by walking back and forth along the cleaning channel 11, with a high degree of automation.

[0186] Step S1 specifically includes the following steps:

[0187] S1.1, start the cleaning robot controller;

[0188] S1.2. Activate the magnetic nail navigation system through the navigation module;

[0189] S1.3, the navigation sensor detects the signal of the ground magnetic nail or magnetic strip 10 and controls the cleaning robot to move along the preset path;

[0190] S1.4. When reaching the preset starting position, the cleaning robot stops moving and prepares to proceed to the next step.

[0191] The S2 step specifically includes the following steps:

[0192] S2.1, the operating handle controls the lifting mechanism 3 to rise;

[0193] S2.2, monitor the height of the robot arm 2 to ensure that the robot arm 2 reaches the preset cleaning height;

[0194] S2.3, start the air compressor 6 at the same time to inject gas into the protective cover 5;

[0195] S2.4. Keep the air pressure inside the protective cover 5 consistent with the external air pressure to prevent outside air from entering.

[0196] When the lifting mechanism 3 is lifted or lowered, the air compressor 6 is synchronously controlled to inject air into the protective cover 5. The air pressure in the protective cover 5 is always matched with the external air pressure, so as to prevent the external humid air from being sucked into the first protective cover 16.

[0197] The S3 step specifically includes the following steps:

[0198] S3.1, start the navigation module to control the cleaning robot to move along a predefined path;

[0199] S3.2, when arriving at each preset station, the cleaning robot stops moving;

[0200] S3.3, start the robot arm control module and position the spray gun 8 to the target cleaning area;

[0201] S3.4, start the spray gun 8 to perform high-pressure water jet cleaning;

[0202] S3.5. After cleaning is completed, the robot arm 2 returns to its initial position and the cleaning robot continues to move forward.

[0203] The S4 step specifically includes the following steps:

[0204] S4.1. Use the navigation system to detect the end mark of the preset path;

[0205] S4.2, if the end point is reached, the cleaning robot stops moving forward;

[0206] S4.3, start the lifting control module to control the lifting mechanism 3 to lower the robotic arm 2 to the initial position;

[0207] S4.4. If the end point has not been reached, continue forward and repeat the cleaning operation.

[0208] In the above steps, the cleaning robot cleans the chicken cages 9 on both sides one by one during the forward and backward processes, further improving the cleaning efficiency. When the cleaning robot moves forward or backward, the automatic tube reel 4 needs to release or recycle the high-pressure water pipe 7, and the release or recycle speed of the automatic tube reel 4 is adjusted according to the current change by real-time monitoring of the motor current of the automatic tube reel 4. The present invention designs an adaptive tube reel speed control method to achieve adaptive matching of the release and recovery of the high-pressure water pipe 7 to the moving speed of the mobile chassis 1. The details are as follows:

[0209] When the cleaning robot moves forward, the automatic hose reel 4 needs to release the high-pressure water pipe 7, and the hose reel control module is started, and the automatic hose reel 4 is first given an initial release speed to release the high-pressure water pipe 7, and the motor current of the automatic hose reel 4 is monitored in real time. If the release speed of the automatic hose reel 4 is slower than the forward speed of the mobile chassis 1, the high-pressure water pipe 7 is tightened, the release torque required by the motor of the automatic hose reel 4 is reduced, and the current is reduced. At this time, the release speed of the automatic hose reel 4 should be increased; if the release speed of the automatic hose reel 4 is faster than the forward speed of the mobile chassis 1, the tension of the high-pressure water pipe 7 becomes loose, the release torque required by the motor of the automatic hose reel 4 is increased, and the current is increased. At this time, the release speed of the automatic hose reel 4 should be reduced.

[0210] Assuming that this is the i-th cycle, set the automatic hose reel release speed V l,i , adjust speed V la,i , speed adjustment base V ba , real-time current C, release the maximum current C in the stable speed adjustment range of the water pipe lmax , minimum current C lmin , adjustment factor A aj,i , at this time the automatic hose reel release speed V l,i The calculation is done by the following formula:

[0211]

[0212] V la，i =V la，i-1 +A aj，i ×V ba

[0213] V l，i =V l，i-1 +V la，i

[0214] When the cleaning robot retreats backward, the automatic hose reel 47 needs to recycle the high-pressure water pipe, and the hose reel control module is started, and the automatic hose reel 4 is first given an initial recycle speed to recycle the high-pressure water pipe 7, and the motor current of the automatic hose reel 4 is monitored in real time. If the recycle speed of the automatic hose reel 4 is slower than the retreat speed of the mobile chassis 1, the tension of the high-pressure water pipe 7 becomes loose, the recycle torque required by the motor of the automatic hose reel 4 becomes smaller, and the current decreases. At this time, the recycle speed of the automatic hose reel 4 needs to be increased; if the recycle speed of the automatic hose reel 4 is faster than the retreat speed of the mobile chassis 1, the high-pressure water pipe 7 is tightened, the recycle torque required by the automatic hose reel 4 becomes larger, and the current increases. At this time, the recycle speed of the automatic hose reel 4 needs to be slowed down.

[0215] Assuming that this is the i-th cycle, set the automatic tube reel recovery speed V t，i , adjust speed V ta，i , speed adjustment base V ba , real-time current C, maximum current C in the recovery stable speed adjustment range tmax , minimum current C tmin , adjustment coefficient A aj，i At this time, the automatic tube reel recovery speed V t，i The calculation is done by the following formula:

[0216]

[0217] V ta，i =V ta，i-1 +A aj，i ×V ba

[0218] V t，i =V t，i-1 +V ta，i

[0219] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A chicken house cleaning robot control system, characterized in that: include: A cleaning robot, the cleaning robot is used to move along a preset path in the chicken house to perform automated cleaning operations; A high-pressure cleaning machine, which is used to provide a high-pressure water source and is connected to the cleaning robot through a high-pressure water pipe; A control module, which is used to coordinate and control the various functions of the cleaning robot as a whole, including movement, cleaning, navigation and pipe winding operations; Functional module, the functional module is used to realize the control and execution of specific operation functions.

2. A chicken house cleaning robot control system according to claim 1, characterized in that: The cleaning robot comprises: A mobile chassis, which is used to detect magnetic nails or magnetic strips on the floor of the chicken house to ensure that the cleaning robot moves along a preset path; A lifting mechanism, wherein the lifting mechanism is arranged on a mobile chassis; A robotic arm, which is a 6-DOF robotic arm, is mounted on a lifting mechanism. The robotic arm holds a spray gun, which is connected to a high-pressure cleaning machine through a high-pressure water pipe. The robotic arm is used to flexibly adjust the position and angle to clean various parts of the chicken house with the spray gun; the lifting mechanism is used to control the height adjustment of the robotic arm to cover cleaning areas at different heights, including the ceiling and multi-layer chicken cages; An automatic hose reel is provided on a mobile chassis and is used to realize automatic release and recovery of the high-pressure water hose, ensuring that the high-pressure water hose is always properly tensioned during the cleaning process.

3. A chicken house cleaning robot control system according to claim 1, characterized in that: The control module comprises: An operating handle, which is used to manually control various functions of the cleaning robot, including the lifting control of the lifting mechanism, the forward and backward movement and left and right steering movement control of the mobile chassis, and the start, pause and stop control of the cleaning task; A cleaning robot controller, the cleaning robot controller is connected to the operating handle, the cleaning robot controller integrates multiple functional modules, including a cleaning task control module, a navigation module, a mechanical arm control module and a coil control module, and the cleaning robot controller is used to realize the automatic cleaning function of the cleaning robot; The chassis controller integrates multiple functional modules, including a chassis communication module, a chassis control module and a lifting control module. The chassis controller is connected to the cleaning robot controller through the chassis communication module. The chassis controller is used to control the forward and backward movement and left and right steering of the mobile chassis, as well as control the lifting and lowering of the lifting mechanism.

4. A chicken house cleaning robot control system according to claim 3, characterized in that: The functional modules include: A cleaning task control module, which is used to control the start, pause and stop of the automatic cleaning task of the cleaning robot; A navigation module, the navigation module is used to control the cleaning robot to move along a predefined straight path in the chicken house passage; A robot arm control module, which is used to control the movement of the robot arm to achieve cleaning of any position and angle of the chicken house; A hose reel control module, which is used to control the automatic release and recovery of the high-pressure water hose, so that the release and recovery speed of the high-pressure water hose automatically adapts to the moving speed of the mobile chassis; A chassis control module, the chassis control module is used to control the movement of the mobile chassis, including forward, backward and steering; A lifting control module, which is used to control the height adjustment of the lifting mechanism to cover the cleaning of multi-layer chicken cages at different heights in the chicken house; The chassis communication module is used to connect the cleaning robot controller with the chassis controller, to receive commands from the cleaning robot controller to control the movement and lifting of the mobile chassis, and to feed back the mobile chassis status and lifting status to the cleaning robot controller.

5. A chicken house cleaning robot control method, characterized in that: The following steps are involved: S1, control the cleaning robot to move to the starting position of the chicken house cleaning channel; S2, start the lifting mechanism to lift the robotic arm to the target height, and inject gas into the protective cover; S3, control the cleaning robot to move forward along a predefined straight path, start the robotic arm and spray gun for cleaning at each station, and clean the chicken cages on the left and right sides of the upper layer one by one; S4, determining whether the cleaning robot has reached the end position of the current cleaning channel, if so, executing the lowering operation of the lifting mechanism, if not, continuing to move forward and perform the cleaning operation; S5, controlling the cleaning robot to return to the starting position of the current cleaning channel; S6, control the cleaning robot to move forward along the current cleaning channel, and clean the chicken cages on the left and right sides of the lower layer one by one; S7, determining whether the cleaning robot has reached the end position of the current cleaning channel, if so, controlling the cleaning robot to return to the starting position, if not, continuing to move forward and perform cleaning operations; S8, determine whether the current cleaning channel is the last cleaning channel, if yes, the cleaning task is finished, if not, control the cleaning robot to enter the next cleaning channel and repeat the above steps; In the above steps S5 and S7, the cleaning robot cleans the chicken cages on both sides one by one in a backward manner during the process of retreating; The cleaning robot cleans the chicken cages on both sides one by one during the forward and backward processes. When the cleaning robot moves forward or backward, the automatic hose reel needs to release or recycle the high-pressure water pipe. By real-time monitoring of the motor current of the automatic hose reel, the release or recycle speed of the automatic hose reel is adjusted according to the current changes.

6. A chicken house cleaning robot control method according to claim 5, characterized in that: The S1 step specifically includes the following steps: S1.1, start the cleaning robot controller; S1.

2. Activate the magnetic nail navigation system through the navigation module; S1.3, the navigation sensor detects the ground magnetic nail or magnetic strip signal and controls the cleaning robot to move along the preset path; S1.

4. When reaching the preset starting position, the cleaning robot stops moving and prepares to proceed to the next step.

7. The chicken house cleaning robot control method according to claim 5, characterized in that: The S2 step specifically includes the following steps: S2.

1. The operating handle controls the lifting mechanism to rise; S2.

2. Monitor the height of the robotic arm to ensure that the robotic arm reaches the preset cleaning height; S2.

3. Simultaneously start the air compressor to inject gas into the protective cover; S2.

4. Keep the air pressure inside the protective cover consistent with the external air pressure to prevent outside air from entering.

8. The chicken house cleaning robot control method according to claim 5, characterized in that: The S3 step specifically includes the following steps: S3.1, start the navigation module to control the cleaning robot to move along a predefined path; S3.2, when arriving at each preset station, the cleaning robot stops moving; S3.3, start the robot arm control module and position the spray gun to the target cleaning area; S3.4, start the spray gun and perform high-pressure water jet cleaning; S3.

5. After cleaning is completed, the robotic arm returns to its initial position and the cleaning robot continues to move forward.

9. The chicken house cleaning robot control method according to claim 5, characterized in that: The S4 step specifically includes the following steps: S4.

1. Use the navigation system to detect the end mark of the preset path; S4.2, if the end point is reached, the cleaning robot stops moving forward; S4.3, start the lifting control module to control the lifting mechanism to lower the robotic arm to the initial position; S4.

4. If the end point has not been reached, continue forward and repeat the cleaning operation.

10. The chicken house cleaning robot control method according to claim 5, characterized in that: When the cleaning robot moves forward, the automatic hose reel needs to release the high-pressure water pipe, start the hose reel control module, and monitor the current of the automatic hose reel motor in real time. If the release speed of the automatic hose reel is slower than the forward speed of the mobile chassis, the high-pressure water pipe is tightened, the release torque required by the automatic hose reel motor is reduced, and the current is reduced. At this time, the release speed of the automatic hose reel should be increased; if the release speed of the automatic hose reel is faster than the forward speed of the mobile chassis, the tension of the high-pressure water pipe becomes loose, the release torque required by the automatic hose reel motor is increased, and the current is increased. At this time, the release speed of the automatic hose reel should be reduced. When the cleaning robot retreats backward, the automatic tube reel needs to recycle the high-pressure water pipe, start the tube reel control module, and monitor the current of the automatic tube reel motor in real time. If the recovery speed of the automatic tube reel is slower than the retreat speed of the mobile chassis, the tension of the high-pressure water pipe becomes loose, the recovery torque required by the automatic tube reel motor becomes smaller, and the current decreases. At this time, the recovery speed of the automatic tube reel needs to be increased; if the recovery speed of the automatic tube reel is faster than the retreat speed of the mobile chassis, the high-pressure water pipe is tensioned, the recovery torque required by the automatic tube reel becomes larger, and the current increases. At this time, the recovery speed of the automatic tube reel needs to be slowed down.

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