Cleaning robot and control method thereof

Abstract

The application relates to a cleaning robot and a control method thereof, which comprises an AGV chassis, a lifting mechanism, a mechanical arm, a spray gun and a high-pressure cleaning machine. The lifting mechanism is arranged on the AGV chassis, the mechanical arm is arranged on the telescopic end of the lifting mechanism, and the spray gun is assembled on the mechanical arm. The high-pressure cleaning machine is arranged on the AGV chassis, and the high-pressure cleaning machine is communicated with the spray gun through a water conveying pipeline. The high-pressure cleaning machine, the lifting mechanism and the mechanical arm are electrically connected with the controller of the AGV chassis. The AGV chassis can carry other equipment to move along a cleaning channel, and the mechanical arm and the lifting mechanism are flexibly adjusted in the process, so that the spray gun has a wide cleaning range, the cleaning efficiency is relatively high, and the degree of automation is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of farm automation equipment, in particular to a cleaning robot and a control method thereof. BACKGROUND

[0002] In the poultry breeding industry, cage raising has the characteristics of convenient control and management. After a cage raising period is completed, the place where the poultry is raised needs to be cleaned, such as high-pressure cleaning of the chicken coop. Generally, there are many dirty things in a poultry breeding place, and manual cleaning has low cleaning efficiency, and workers are prone to fatigue when using a high-pressure water gun for a long time. Poor environmental conditions can also adversely affect the health of workers. Based on this, cleaning equipment has emerged to some extent to free workers' hands, but the cleaning equipment still has the problems of low cleaning efficiency and low automation degree in the cleaning process. SUMMARY

[0003] The present application proposes a cleaning robot and a control method thereof to solve the problems of low efficiency and low automation degree in the cleaning process of the cleaning equipment. The AGV chassis can carry other equipment along the cleaning channel, and the mechanical arm and the lifting mechanism can flexibly adjust the state during this process, so that the spray gun has a wide cleaning range, high cleaning efficiency, and high automation degree.

[0004] A cleaning robot comprises:

[0005] An AGV chassis, wherein a controller is arranged in the AGV chassis;

[0006] A lifting mechanism arranged on the AGV chassis;

[0007] A mechanical arm arranged at the telescopic end of the lifting mechanism;

[0008] A spray gun assembled on the mechanical arm;

[0009] A high-pressure cleaning machine arranged on the AGV chassis, wherein the high-pressure cleaning machine is in communication with the spray gun through a water supply pipeline;

[0010] The high-pressure cleaning machine, the lifting mechanism, and the mechanical arm are electrically connected to the controller of the AGV chassis.

[0011] In one embodiment, the lifting mechanism comprises a lifting column and a first protective cover, the first protective cover is arranged outside the lifting column, the lifting column supports the mechanical arm on the AGV chassis, and the first protective cover can be telescopic deformed with the lifting column.

[0012] The cleaning robot further comprises an air compressor for injecting gas into the first protective cover, and the air compressor is electrically connected with the controller of the AGV chassis.

[0013] In one of the embodiments, the lifting mechanism further comprises an auxiliary support plate arranged at the top end of the lifting column, a bottom plate arranged at the bottom end of the lifting column, and a scissor mechanism arranged at the periphery of the lifting column, the bottom plate is mounted on the AGV chassis, the mechanical arm is assembled on the auxiliary support plate, the bottom of the first protective cover is connected with the bottom plate, and the top of the first protective cover is connected with the auxiliary support plate.

[0014] In one of the embodiments, the auxiliary support plate is provided with an air inlet and outlet hole, and the air compressor injects gas into the first protective cover through the air inlet and outlet hole.

[0015] In one of the embodiments, the cleaning robot further comprises an electric control cabinet, the electric control cabinet is arranged on the AGV chassis, the air compressor and the high-pressure cleaning machine are located in the cabinet body of the electric control cabinet, and the air compressor is located above the high-pressure cleaning machine.

[0016] In one of the embodiments, the electric control cabinet further comprises a display screen and a teach pendant, and the display screen and the teach pendant are mounted on the cabinet body.

[0017] In one of the embodiments, the bottom of the AGV chassis is provided with driving wheels and driven wheels, the AGV chassis is provided with front and rear safety bump stops and peripheral radars, and the bottom of the AGV chassis is provided with navigation sensors for detecting magnetic nails or magnetic strips on the ground of the breeding site.

[0018] In one of the embodiments, the main frame of the AGV chassis is integrally processed and formed;

[0019] In one of the embodiments, the mechanical arm is externally provided with a flexible protective clothing for the mechanical arm.

[0020] A cleaning robot control method is used to control the above cleaning robot, and the control method comprises the following steps:

[0021] S1, control the cleaning robot to travel to the starting position of the cleaning channel;

[0022] S2, control the lifting mechanism to lift, and inject gas into the first protective cover at the same time;

[0023] S3, control the cleaning robot to autonomously navigate and travel one station along the current cleaning channel, and clean the upper layer and the left and right sides of the house;

[0024] S4, judging whether the cleaning robot reaches the current cleaning channel end position, if yes, controlling the lifting mechanism to descend; if not, jumping to step S3;

[0025] S5, the cleaning robot retreats to the starting position of the current cleaning channel;

[0026] S6, controlling the cleaning robot to autonomously navigate along the current cleaning channel to move one station, and cleaning the lower layer left and right two sides of the house;

[0027] S7, judging whether the cleaning robot reaches the current cleaning channel end position, if yes, retreats to the starting position of the current cleaning channel; if not, jumping to step S6;

[0028] S8, judging whether the current cleaning channel is the last cleaning channel, if yes, the cleaning is finished, if not, controlling the cleaning robot to enter the starting position of the next cleaning channel and jumping to step S2.

[0029] In one of the embodiments,

[0030] In the steps S5, S6 and S7, the cleaning robot is cleaned in a backward manner one station by one station during the backward process.

[0031] The above scheme provides a cleaning robot and a control method thereof, which can automatically control the cleaning robot to travel along the cleaning channel, clean the animal houses of each layer in turn, and automatically switch to the next cleaning channel for cleaning after one cleaning channel is cleaned, so that the degree of automation is high. Moreover, the lifting mechanism and the mechanical arm can be flexibly adjusted during the cleaning process, so that the spray gun can cover a larger range and the cleaning efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations are given to explain the present application and are not limiting of the present application.

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0034] Figure 1 The structure schematic diagram of the cleaning robot in the present embodiment when the lifting mechanism is in the extended state;

[0035] Figure 2 The front view of the cleaning robot shown in the present embodiment; Figure 1

[0036] ​Figure 3 for Figure 1 The right view of the cleaning robot shown;

[0037] Figure 4 This is a schematic diagram of the cleaning robot described in this embodiment when the lifting mechanism is in the retracted state;

[0038] Figure 5 This is a schematic diagram of the cleaning robot described in this embodiment in a usage scenario;

[0039] Figure 6 for Figure 5 A magnified view of the location of the cleaning robot and the magnetic nails on the ground;

[0040] Figure 7 This is a flowchart of the control method described in this embodiment.

[0041] Explanation of reference numerals in the attached figures:

[0042] 10. Cleaning robot; 11. AGV chassis; 111. Drive wheel; 112. Driven wheel; 12. Lifting column; 13. Robotic arm; 14. Spray gun; 15. High-pressure washer; 151. Water supply pipeline; 16. First protective cover; 17. Scissor mechanism; 171. Auxiliary support plate; 18. Air compressor; 19. Electrical control cabinet; 191. Teaching pendant; 192. Display screen; 20. Housing; 21. Magnetic nail; 22. Cleaning channel; 30. Lifting mechanism. Detailed Implementation

[0043] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0044] like Figures 1 to 4 As shown, in some embodiments of this application, a cleaning robot 10 is provided, comprising:

[0045] AGV chassis 11, wherein a controller is provided in the AGV chassis 11;

[0046] A lifting mechanism 30 is mounted on the AGV chassis 11.

[0047] Robotic arm 13, wherein the robotic arm 13 is disposed at the telescopic end of the lifting mechanism 30;

[0048] Spray gun 14, which is mounted on the robotic arm 13;

[0049] A high-pressure cleaning machine 15 is arranged on the AGV chassis 11, and the high-pressure cleaning machine 15 is communicated with the spray gun 14 through a water supply pipeline 151;

[0050] The high-pressure cleaning machine 15, the lifting mechanism 30 and the mechanical arm 13 are electrically connected with the controller of the AGV chassis 11.

[0051] The cleaning robot 10 can automatically move forward, and the lifting mechanism 30 and the mechanical arm 13 can be flexibly adjusted under the action of the controller, so that the spray gun 14 can act on the target house position. The cleaning robot 10 can cover a larger range, and the spray gun 14 can be flexibly adjusted to face various directions, with high automation degree and high washing efficiency.

[0052] Further, in some embodiments, the lifting mechanism 30 further comprises a lifting column 12 and a first protective cover 16. The first protective cover 16 is arranged outside the lifting column 12, the lifting column 12 supports the mechanical arm 13 on the AGV chassis 11, and the first protective cover 16 can be telescopic deformed with the lifting column 12.

[0053] During the cleaning process, the first protective cover 16 can be deformed with the lifting column 12, and the lifting column 12 is always shielded inside the first protective cover 16, effectively avoiding the splashing of dirty objects around the cleaning robot 10 during the cleaning process, and reducing the probability of failure of the cleaning robot 10.

[0054] Further specifically, as shown in Figures 1 to 4 In some embodiments, the first protective cover 16 comprises a plurality of folding parts, all of which can be stretched when the lifting mechanism 30 is stretched, and all of which can be folded when the lifting mechanism 30 is retracted. The first protective cover 16 is folded like an accordion, which can adapt to the lifting process of the lifting mechanism 30.

[0055] Alternatively, the first protective cover 16 can also have other structural forms, as long as it can adapt to the telescopic process of the lifting mechanism 30 and always protect the lifting mechanism 30 inside. For example, the first protective cover 16 is made of elastically deformable material, and the first protective cover 16 elastically deforms to adapt to the length of the lifting mechanism 30 during the lifting process of the lifting mechanism 30.

[0056] Further, in some embodiments, as shown in Figures 1 to 4As shown, the cleaning robot 10 further comprises an air compressor 18 for injecting gas into the first protective cover 16, the air compressor 18 being electrically connected with the controller of the AGV chassis 11.

[0057] When the lifting mechanism 30 is extended, the length of the lifting column 12 is increased, the first protective cover 16 is stretched, and the air compressor 18 injects gas into the first protective cover 16, so that the internal pressure of the first protective cover 16 adapts to the external pressure, avoiding the case that the external humid air is sucked into the first protective cover 16 when the internal space of the first protective cover 16 is increased, and further improving the performance stability of the mechanism in the first protective cover 16.

[0058] Further, the lifting mechanism 30 further comprises an auxiliary support plate 171 arranged at the top end of the lifting column 12, and a bottom plate arranged at the bottom end of the lifting column 12. The bottom plate is mounted on the AGV chassis 11, the mechanical arm 13 is assembled on the auxiliary support plate 171, the bottom of the first protective cover 16 is connected with the bottom plate, and the top of the first protective cover 16 is connected with the auxiliary support plate 171.

[0059] The two ends of the first protective cover 16 are connected with the bottom plate and the auxiliary support plate 171 respectively, and when the lifting column 12 is extended or retracted, the distance between the bottom plate and the auxiliary support plate 171 changes, and the first protective cover 16 deforms following the extension and retraction.

[0060] It should be noted that the upper end of the first protective cover 16 is separated from the auxiliary support plate 171 in the embodiment shown in Figures 1 to 4 , but this does not mean that the first protective cover 16 is not connected with the auxiliary support plate 171 in actual use. The figure is only used to show the internal structure and does not limit the uniqueness of the scheme.

[0061] In some embodiments, the auxiliary support plate 171 is provided with an air inlet and outlet hole (not shown in the figure), and the air compressor 18 injects gas into the space surrounded by the first protective cover 16 through the air inlet and outlet hole.

[0062] Further, in some embodiments, as shown in Figures 1 to 4As shown, the lifting mechanism 30 also includes a scissor mechanism 17 disposed around the lifting column 12. The bottom end of the scissor mechanism 17 is disposed on the AGV chassis 11, and the top end of the scissor mechanism 17 is connected to an auxiliary support plate 171. The telescopic end of the lifting column 12 is supported in the middle of the auxiliary support plate 171. The outer edge of the auxiliary support plate 171 has multiple spaced support points, and the scissor mechanism 17 is supported at all of the support points of the auxiliary support plate 171. The scissor mechanism 17 can change its crossing angle as the lifting column 12 rises and falls.

[0063] The scissor mechanism 17 provides auxiliary support to the robotic arm 13 via the auxiliary support plate 171, making the movement of the robotic arm 13 more stable. The spray gun 14 experiences a significant reverse impact force when spraying water. The addition of the scissor mechanism 17 provides support at the outer edge of the auxiliary support plate 171, while the lifting column 12 provides support at the center of the auxiliary support plate 171. The auxiliary support plate 171 is stable under stress and has strong impact resistance, thus making the robotic arm 13 mounted on the auxiliary support plate 171 more stable. Furthermore, the scissor mechanism 17 rises and falls synchronously with the robotic arm 13 during its lifting and lowering process, ensuring smooth movement of the auxiliary support plate 171.

[0064] like Figures 1 to 4 As shown, in some embodiments, the scissor mechanism 17 is located inside the first protective cover 16. The first protective cover 16 not only protects the lifting column 12, but also protects the scissor mechanism 17.

[0065] Furthermore, such as Figures 1 to 4 As shown, in some embodiments, the cleaning robot 10 further includes an electrical control cabinet 19, which is mounted on the AGV chassis 11. The air compressor 18 and the high-pressure washer 15 are both located in the cabinet of the electrical control cabinet 19, with the air compressor 18 located above the high-pressure washer 15.

[0066] So Figures 1 to 4 As shown, the electrical control cabinet 19 also includes a display screen 192 and a teach pendant 191, both of which are mounted on the cabinet.

[0067] In some embodiments, the robotic arm 13 is provided with a flexible protective suit (not shown in the figure). The flexible protective suit can adapt to changes in the bending angle of the robotic arm 13. The robotic arm 13 is the component closest to the spray gun 14, and dirt is most likely to splash onto the robotic arm 13 during cleaning. Therefore, the flexible protective suit is further provided to protect the robotic arm 13 and reduce the possibility of malfunction due to dirt.

[0068] The mechanical arm 13, the lifting column 12 and the high-pressure cleaner 15 are all protected in corresponding protection structures, the probability of important components being contaminated during the working of the whole cleaning robot 10 is greatly reduced, and the failure rate of the equipment is effectively reduced.

[0069] Further, as Figures 1 to 4 shown, in some embodiments, the bottom of the AGV chassis 11 is provided with driving wheels 111 and driven wheels 112. The AGV chassis 11 is provided with front and rear safety bumpers and a peripheral radar, and the bottom of the AGV chassis 11 is provided with a navigation sensor for detecting a guidance information carrier on the ground of the breeding site, such as a magnetic nail 21 or a magnetic strip.

[0070] The cleaning robot 10 can move forward according to the instructions of the controller according to the preset path, and the safety bumper can prevent the cleaning robot 10 from colliding with other objects during automatic movement. As Figure 6 shown, a plurality of magnetic nails 21 can be arranged along the path on the ground of the animal house 20, and the controller can control the cleaning robot 10 to move to a target position or move forward in a target direction according to the magnetic nail 21 information detected by the navigation sensor. In summary, the cleaning robot 10 can realize automatic cleaning.

[0071] Specifically, the radar can be an ultrasonic radar or a millimeter radar, etc.

[0072] Moreover, a battery or other expansion function unit can also be arranged in the AGV chassis 11 to improve the degree of automation of the cleaning robot 10.

[0073] In one of the embodiments, the main frame of the AGV chassis 11 is integrally processed and formed, which greatly reduces the probability of external dirt entering.

[0074] As Figure 7 shown, in some embodiments of the present application, a cleaning robot 10 control method is provided, which is used to control the above-mentioned cleaning robot 10, and the control method comprises the following steps:

[0075] S1, controlling the cleaning robot 10 to move to the starting position of the cleaning channel 22;

[0076] S2, controlling the lifting mechanism 30 to rise, and injecting gas into the first protective cover 16;

[0077] S3, controlling the cleaning robot 10 to autonomously navigate and move forward one station along the current cleaning channel 22, and cleaning the upper left and right two sides of the house 20;

[0078] S4, judging whether the cleaning robot 10 reaches the end position of the current cleaning channel 22, if yes, controlling the lifting mechanism 30 to descend; if no, jumping to step S3.

[0079] S5, the cleaning robot 10 retreats to the starting position of the current cleaning channel 22;

[0080] S6, the control cleaning robot 10 autonomously navigates along the current cleaning channel 22 to a site, and cleans the lower left and right two sides of the house 20;

[0081] S7, determine whether the cleaning robot 10 reaches the end position of the current cleaning channel 22, if yes, retreat to the starting position of the current cleaning channel 22; if not, jump to step S6;

[0082] S8, determine whether the current cleaning channel 22 is the last cleaning channel 22, if yes, the cleaning is completed, if not, control the cleaning robot 10 to enter the starting position of the next cleaning channel 22 and jump to step S2.

[0083] The above scheme provides a cleaning robot 10 control method, as shown in Figure 5 The cleaning robot 10 can be automatically controlled to travel along the cleaning channel 22, and sequentially clean each layer of animal house 20. After a cleaning channel 22 is cleaned, the next cleaning channel 22 is automatically switched to clean, and the degree of automation is high.

[0084] As shown in Figure 5 In actual use scenarios, a row of animal houses 20 can be arranged on both sides of a cleaning channel 22. The cleaning robot 10 can automatically complete the cleaning process of multiple rows of animal houses 20 and multiple layers of animal houses 20 by walking back and forth along the cleaning channel 22, and the degree of automation is high.

[0085] Moreover, when the lifting mechanism 30 is lifted, the air compressor 18 is controlled to inject air into the first protective cover 16 synchronously. The air pressure in the first protective cover 16 is always matched with the external air pressure, avoiding the situation that the external humid air is sucked into the first protective cover 16.

[0086] Further, in some embodiments, the control method includes cleaning each site in a backward manner during the backward process of the cleaning robot 10 in steps S5, S6 and S7. In other words, the cleaning robot 10 retreats through each site in turn, and the spray gun 14 sprays water to clean the left and right two sides of the house 20 in this process. The cleaning robot 10 cleans the left and right two sides of the house 20 during the forward and backward processes, further improving the cleaning efficiency.

[0087] In the description of the application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0088] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0089] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0090] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0091] It is to be understood that the terms "fixedly mounted" and "fixedly attached" should be interpreted broadly to include a direct attachment as well as an indirect attachment via one or more intermediary members. It is further to be understood that the terms "connected" and "connected" should be interpreted broadly to include a direct connection as well as an indirect connection via one or more intermediary members. As used herein the terms "upper", "lower", "right", "left", "vertical", "horizontal", "top", "bottom", "lateral", "longitudinal", "length", "width", "height", and "depth", as well as derivatives thereof (e.g., "horizontally", "downwardly", "upwardly", etc.) should be interpreted to be relative terms, only for the purpose of illustration, and not by way of limitation.

[0092] Any of the technical features of the above-described embodiments can be combined with each other, and for the sake of brevity, not all possible combinations are described, however, any combination of the technical features should be considered as within the scope of the present specification.

[0093] The above-described embodiments are merely illustrative of the present application and do not limit the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the spirit of the present application, and such modifications and improvements should be considered as within the scope of the present application. Therefore, the scope of the patent should be determined by the appended claims.

Claims

1. A control method for a cleaning robot, characterized in that, Cleaning robots include: An AGV chassis, wherein a controller is installed in the AGV chassis; A lifting mechanism is mounted on the AGV chassis. A robotic arm, wherein the robotic arm is disposed at the telescopic end of the lifting mechanism; A spray gun, which is mounted on the robotic arm; A high-pressure washer is mounted on the AGV chassis and is connected to the spray gun via a water supply pipeline. The high-pressure cleaner, the lifting mechanism, and the robotic arm are all electrically connected to the controller of the AGV chassis. The lifting mechanism includes a lifting column and a first protective cover. The first protective cover is installed outside the lifting column. The lifting column supports the robotic arm on the AGV chassis. The first protective cover can extend and deform as the lifting column rises and falls. The cleaning robot also includes an air compressor, which is used to inject gas into the first protective cover. The air compressor is electrically connected to the controller of the AGV chassis. The control method for the cleaning robot includes the following steps: S1. Control the cleaning robot to move to the starting position of the cleaning channel; a row of animal sheds is arranged on both sides of the cleaning channel; S2. Control the lifting mechanism to rise, and simultaneously inject gas into the first protective cover; S3. Control the cleaning robot to autonomously navigate along the current cleaning channel to one station and clean the animal houses on the left and right sides of the upper level. S4. Determine whether the cleaning robot has reached the end position of the current cleaning channel. If yes, control the lifting mechanism to descend; otherwise, proceed to step S3. S5. The cleaning robot returns to the starting position of the current cleaning channel; S6. Control the cleaning robot to autonomously navigate along the current cleaning channel to one station and clean the lower left and right sides of the building. S7. Determine whether the cleaning robot has reached the end position of the current cleaning channel. If yes, return to the beginning position of the current cleaning channel; otherwise, proceed to step S6. S8. Determine if the current cleaning channel is the last cleaning channel. If yes, the cleaning ends. Otherwise, control the cleaning robot to enter the starting position of the next cleaning channel and jump to step S2. In steps S5, S6, and S7, the cleaning robot cleans each station one by one in a backward manner during the backward movement.

2. The control method for the cleaning robot according to claim 1, characterized in that, The lifting mechanism also includes an auxiliary support plate disposed at the top of the lifting column, a base plate disposed at the bottom of the lifting column, and a scissor mechanism disposed around the lifting column. The base plate is mounted on the AGV chassis, the robotic arm is mounted on the auxiliary support plate, the bottom of the first protective cover is connected to the base plate, and the top of the first protective cover is connected to the auxiliary support plate.

3. The control method for the cleaning robot according to claim 2, characterized in that, The bottom end of the scissor mechanism is mounted on the AGV chassis, the top of the scissor mechanism is connected to the auxiliary support plate, the telescopic end of the lifting column is supported in the middle of the auxiliary support plate, the outer edge of the auxiliary support plate has multiple spaced support points, and the scissor mechanism is supported at the support points.

4. The control method for the cleaning robot according to claim 2, characterized in that, The auxiliary support plate is provided with air inlet and outlet holes, and the air compressor injects gas into the first protective cover through the air inlet and outlet holes.

5. The control method for the cleaning robot according to any one of claims 1 to 4, characterized in that, The cleaning robot also includes an electrical control cabinet, which is mounted on the AGV chassis. The air compressor and the high-pressure cleaner are both located inside the electrical control cabinet, with the air compressor positioned above the high-pressure cleaner.

6. The control method for the cleaning robot according to claim 5, characterized in that, The electrical control cabinet also includes a display screen and a teach pendant, both of which are mounted on the cabinet.

7. The control method for the cleaning robot according to any one of claims 1 to 4, characterized in that, The AGV chassis is equipped with drive wheels and driven wheels at the bottom. The AGV chassis is equipped with front and rear safety anti-collision rails and surrounding radar. The AGV chassis is equipped with navigation sensors at the bottom to detect magnetic nails or magnetic strips on the ground of the breeding site.

8. The control method for the cleaning robot according to any one of claims 1 to 4, characterized in that, The main frame of the AGV chassis is integrally machined; And / or, the robotic arm is provided with a flexible protective suit.

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