A farm cleaning system and method

Abstract

The application discloses a farm cleaning system, which comprises a farm and a cleaning device for cleaning the farm. The farm is divided into several detection areas, and an image recognition instrument is arranged above the farm. The image recognition instrument is used for identifying several live pig coordinates, several excrement coordinates and a cleaning device coordinate in the farm. One of the excrement coordinates is determined, and the distances between the several detection areas and the excrement coordinate are calculated. A predetermined route of the cleaning device coordinate to the excrement coordinate is formulated, and the cleaning device moves along the predetermined route. If one of the live pig coordinates coincides with the predetermined route, the predetermined route is adjusted according to the distances between the several detection areas and the excrement coordinate. The application further discloses a farm cleaning method, which comprises steps 1-4. The efficient movement of the cleaning device is realized, and the work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a farm cleaning technology, in particular to a farm cleaning system and method. BACKGROUND

[0002] Pig farms are prone to accumulate a large amount of feces, if not cleaned in time, it will affect the health of piglets. Such as CN108552238A, the patent discloses a long-acting antibacterial farm cleaning method.

[0003] In order to reduce the working intensity and improve the working efficiency, the prior art such as publication number CN114796575A discloses a livestock farm cleaning and disinfecting robot, a GIS automatic cruise device is arranged in the second inner chamber, and the GIS automatic cruise device is wirelessly connected with external electronic equipment, and operates according to the predetermined route and procedure.

[0004] Since the pig and its feces are in the same breeding pen, the cleaning device operates according to the predetermined route, which has a great possibility of collision with the pig, so that the cleaning device cannot operate according to the predetermined route. At this time, manual intervention is still needed, which greatly reduces the efficiency of the cleaning device. SUMMARY

[0005] In order to solve the defects existing in the prior art, the present application proposes a farm cleaning system and method, which divides the farm into several detection zones, determines the coordinates of the cleaning device and its feces, sets the predetermined route, and adjusts the predetermined route according to the coordinates of the pig, so as to realize the efficient movement of the cleaning device and improve the working efficiency.

[0006] The technical scheme of the present application is as follows:

[0007] A farm cleaning system, comprising a farm and a cleaning device for cleaning the farm, characterized in that the farm is divided into several detection zones, and the cleaning device moves along a straight line in the farm, an image recognition instrument is arranged above the farm, which is used to identify several pig coordinates, several feces coordinates and cleaning device coordinates in the farm,

[0008] determining one of the feces coordinates, calculating the distance between the several detection zones and the feces coordinates, and formulating the predetermined route of the cleaning device coordinates to the feces coordinates, and the cleaning device moves along the predetermined route, if one of the pig coordinates coincides with the predetermined route, the predetermined route is adjusted according to the distance between the several detection zones and the feces coordinates, wherein,

[0009] The front end of the cleaning device is also provided with an infrared sensor, which detects whether the pig coincides with the predetermined route.

[0010] In the farm cleaning system, when the cleaning device moves along the determined route, if the pig coordinate coincides with the determined route, the distance A0 between the cleaning device coordinate and the excrement coordinate at this time is obtained, the cleaning device is moved to a distance A0+1 from the excrement coordinate, and a first memory route is established with A0+1 as a starting point and the excrement coordinate as an ending point.

[0011] In the farm cleaning system, the direction in which the cleaning device moves from A0 to A0+1 is set as a weight direction, and a mark point is set in the opposite direction of the weight direction. If the pig coordinate coincides with the first memory route, the distance A1 between the cleaning device coordinate and the excrement coordinate at this time is obtained, the cleaning device is moved to a distance A1+1 from the excrement coordinate, and a second memory route is established with A1+1 as a starting point and the excrement coordinate as an ending point, wherein the direction in which the cleaning device moves from A1 to A1+1 is the same direction as the weight direction.

[0012] In the farm cleaning system, the farm has a first direction and a second direction, and the excrement coordinate is composed of a first direction coordinate and a second direction coordinate. When determining the excrement cleaning sequence, the first direction coordinate or the second direction coordinate is preferentially selected.

[0013] In the farm cleaning system, the cleaning device includes a shell, a driving source, and a first driving wheel. The first driving wheel is installed at the end of the shell and is connected to the driving source. The first driving wheel is used to control the movement of the entire cleaning device. A swing arm is installed on both sides of the shell. The swing arm is rotatably connected to the shell through a swing shaft. The swing arm rotates inward or outward along the swing shaft. A cleaning turntable is further installed below the swing arm. A driving motor is built in the swing arm to drive the cleaning turntable to rotate at a high speed.

[0014] In the farm cleaning system, a manure suction structure is further arranged in the middle of the shell. The manure suction structure includes a connecting frame and a second driving wheel. The second driving wheel is arranged on the connecting frame and is connected to the driving source to drive the entire cleaning device. A storage cylinder is arranged at the top of the connecting frame. The storage cylinder is used to store collected excrement. A first feeding pipe is arranged at the bottom of the storage cylinder. A manure suction head is arranged at the end of the connecting frame away from the second driving wheel. A second feeding pipe is connected to the first feeding pipe. The manure suction head is used to suck excrement into the storage cylinder.

[0015] In the farm cleaning system, a plurality of cleaning nozzles are arranged at the bottom of the connecting frame. The cleaning nozzles are arranged directly behind the manure suction head. The cleaning nozzles spray high-pressure water or disinfectant gas outward.

[0016] In the farm cleaning system, the top of the storage cylinder is provided with a top cover, a plurality of radial grooves are formed in the top cover, a conical cylinder is arranged above the top cover, a filter cylinder is arranged above the conical cylinder, a cavity cylinder is arranged above the filter cylinder, the cavity cylinder is communicated with the filter cylinder, the conical cylinder and the storage cylinder, a fan is arranged on the top of the cavity cylinder, and the fan is used for dispersing the odor of the excrement in the storage cylinder.

[0017] A farm cleaning method, characterized in that the farm cleaning method comprises the following steps:

[0018] Step 1: identifying a plurality of pig coordinates, a plurality of excrement coordinates and a cleaning device coordinate in the farm through the image recognition instrument;

[0019] Step 2: sequentially sorting the excrement coordinates and determining one of the excrement coordinates;

[0020] Step 3: measuring the distances of a plurality of detection zones from the excrement coordinate, determining a predetermined route of the cleaning device coordinate to the excrement coordinate, and moving the cleaning device along the predetermined route;

[0021] Step 4: determining whether the pig coordinate coincides with the predetermined route, and if the pig coordinate coincides with the predetermined route, adjusting the predetermined route according to the distances of the plurality of detection zones from the excrement coordinate;

[0022] Step 4.1: if the pig coordinate coincides with the predetermined route, obtaining the distance A0 of the cleaning device coordinate from the excrement coordinate at this time, moving the cleaning device to a distance A0+1 from the excrement coordinate, and determining a first memory route with A0+1 as a starting point and the excrement coordinate as an ending point;

[0023] Step 4.2: if the pig coordinate coincides with the first memory route, obtaining the distance A1 of the cleaning device coordinate from the excrement coordinate at this time, moving the cleaning device to a distance A1+1 from the excrement coordinate, and determining a second memory route with A1+1 as a starting point and the excrement coordinate as an ending point;

[0024] Step 4.3: the direction of the cleaning device moving from A1 to A1+1 is the same as the weight direction, the direction of the cleaning device moving from A0 to A0+1 is set as the weight direction, and a mark point is arranged in the opposite direction of the weight direction.

[0025] In the farm cleaning method of the present application, the specific step of sequentially sorting the coordinates of the excrement in Step 2 is: dividing the coordinates of the excrement into a first direction coordinate and a second direction coordinate, wherein, when determining the excrement cleaning sequence, the first direction X coordinate value on the coordinates of the excrement is compared first, if the first direction X coordinate value is equal, then the second direction Y coordinate value on the coordinates of the excrement is compared, and finally the first direction X coordinate value and the second direction Y coordinate value are sorted in sequence to determine the coordinates of the excrement.

[0026] The implementation of the farm cleaning system and the cleaning method of the present application has the following beneficial effects: the

[0027] The farm cleaning system comprises a farm and a cleaning device for cleaning the farm. The farm is divided into a plurality of detection areas, and an image recognition instrument is arranged above the farm. The image recognition instrument is used to identify a plurality of pig coordinates, a plurality of excrement coordinates and a cleaning device coordinate in the farm. One of the excrement coordinates is determined, and the distances of the plurality of detection areas from the excrement coordinate are calculated. The predetermined route of the cleaning device coordinate to the excrement coordinate is determined, and the cleaning device moves along the predetermined route. If one of the pig coordinates coincides with the predetermined route, the predetermined route is adjusted according to the distances of the plurality of detection areas from the excrement coordinate. The efficient movement of the cleaning device is realized, and the work efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the cleaning device of the present application;

[0029] Figure 2 It is a structural schematic diagram of the excrement suction structure of the present application;

[0030] Figure 3 It is an installation diagram of the image recognition instrument of the present application;

[0031] Figure 4 It is a scanning schematic diagram of the excrement coordinates in the farm of the present application;

[0032] Figure 5 It is a scanning schematic diagram of the pig coordinates in the farm of the present application;

[0033] Figure 6 It is a distribution structure schematic diagram of the detection area in the farm of the present application;

[0034] Figure 7 It is a moving route diagram of the cleaning device of the present application;

[0035] Figure 8 It is a distribution schematic diagram of the excrement coordinates in the farm of the present application;

[0036] Figure 9 It is a flowchart of the farm cleaning method of the present application;

[0037] Figure 10 Flowchart of the farm cleaning method of the present application.

[0038] The reference signs are as follows: 10-cleaning device, 11-shell section, 12-driving source, 13-first driving wheel, 14-swing arm, 15-swing shaft, 16-cleaning turntable, 17-manure suction structure, 171-connection frame, 172-second driving wheel, 173-storage cylinder, 174-first feeding pipe, 175-manure suction head, 176-second feeding pipe, 177-top cover, 178-conical cylinder, 179-filter cylinder, 1710-cavity cylinder, 1711-cleaning nozzle, 18-infrared sensor, 20-farm, 30-image recognition instrument, 40-fecal identification point, 50-pig. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application.

[0040] Referring to CN114796575A, the patent discloses a livestock farm cleaning and disinfecting robot, which is provided with a GIS automatic cruise device inside the second inner chamber, and the GIS automatic cruise device is wirelessly connected with external electronic equipment and operates according to a predetermined route and procedure. Since the pig and its feces are in the same breeding pen, the cleaning device will have a high possibility of colliding with the pig when operating according to the predetermined route, so that the cleaning device cannot operate according to the predetermined route. The present application divides the farm into a plurality of detection zones, determines the coordinates of the cleaning device and its feces, sets a predetermined route, and adjusts the predetermined route according to the coordinates of the pig, so as to realize efficient movement of the cleaning device and improve work efficiency. Embodiment one

[0041] As shown in Figures 1 to 8 , the farm cleaning system of the present application includes a farm 20 and a cleaning device 10 for cleaning the farm. As shown in Figures 1 to 2 , the cleaning device 10 includes a shell section 11, a driving source 12, and a first driving wheel 13. The first driving wheel 13 is installed at the end of the shell section 11 and is connected with the driving source 12, which is used to control the movement of the entire cleaning device 10.

[0042] The shell side 11 is provided with a swing arm 14 on both sides, the swing arm 14 is rotatably connected to the shell side 11 through a swing shaft 15, and the swing arm 14 can rotate inward or outward along the swing shaft 15. A cleaning turntable 16 is also installed below the swing arm 14. A driving motor is built in the swing arm 14, which drives the cleaning turntable 16 to rotate at high speed to clean the excrement. During the high-speed rotation of the cleaning turntable 16, the swing arm 14 can also be controlled to swing inward or outward to clean and gather the excrement. A manure suction structure 17 is also arranged in the middle of the shell side 11, which is used to suck the cleaned and gathered excrement.

[0043] As shown in Figure 2 The manure suction structure 17 includes a connecting frame 171 and a second driving wheel 172, and the connecting frame 171 is fixedly connected to the middle of the shell side 11. The second driving wheel 172 is arranged on the connecting frame 171, and the second driving wheel 172 is also connected with the driving source 12 for driving the whole cleaning device 10. A storage cylinder 173 is arranged on the top of the connecting frame 171, which is used to store the collected excrement, and a first feeding pipe 174 is arranged at the bottom of the storage cylinder 173. The end of the connecting frame 171 away from the second driving wheel 172 is provided with a manure suction head 175, and the manure suction head 175 is connected with a second feeding pipe 176, which is connected with the first feeding pipe 174. The manure suction head 175 is used to suck the excrement into the storage cylinder 173 (similar to a dust collector).

[0044] Further, a plurality of cleaning nozzles 1711 are arranged at the bottom of the connecting frame 171, which are arranged behind the manure suction head 175 and spray high-pressure water or disinfectant gas outward to quickly and comprehensively clean and disinfect the breeding farm.

[0045] Further, a top cover 177 is arranged on the top of the storage cylinder 173, a plurality of radial grooves are arranged on the top cover 177, and the excrement in the storage cylinder 173 can ventilate through the radial grooves. A conical cylinder 178 is arranged above the top cover 177, a filter cylinder 179 is arranged above the conical cylinder 178, and a cavity cylinder 1710 is arranged above the filter cylinder 179. The cavity cylinder 1710 is in communication with the storage cylinder 173 through the filter cylinder 179 and the conical cylinder 178, and a fan can be arranged on the top of the cavity cylinder 1710 to disperse the odor of the excrement in the storage cylinder 173, which is convenient for subsequent cleaning of the storage cylinder 173. Embodiment two

[0046] This embodiment includes all the contents of the above embodiments, and further discloses how the cleaning device 10 cleans the farm 20. The cleaning device 10 moves in a straight line within the farm 20 to sweep and collect the manure within the farm 20. In the prior art, controlling the cleaning device 10 to clean the farm 20 generally uses an S-shaped reciprocating motion to perform a comprehensive cleaning of the farm. Although this method can clean the farm 20 from all angles, it requires driving all the pigs outside the farm 20 when cleaning the manure, so this method is not efficient. Another method, such as CN114796575A, allows the cleaning device 10 to receive instructions from a remote platform or app to execute specified tasks or perform work at specified locations. However, during the cleaning process, the pigs will move irregularly within the farm, preventing the cleaning device 10 from moving to the designated location.

[0047] like Figures 3 to 7 As shown, an image recognition device 30 is installed above the farm 20. This image recognition device 30 is used to identify the coordinates of several pigs 50, several manure coordinates 40, and the coordinates of the cleaning device 10 within the farm 20. The farm 20 is constructed in a square structure and divided into several detection zones. One manure coordinate 40 is randomly selected, and the distances from several detection zones to that manure coordinate 40 are calculated (e.g., ...). Figure 6 As shown, Figure 6 The numbers in the detection zones represent the distances from the detection zones to the feces coordinate 40. At this point, the coordinates of the cleaning device 10 are determined. Based on the distances of several detection zones to the feces coordinate 40, the shortest route from the cleaning device 10 to the feces coordinate 40 is defined as a predetermined route. The cleaning device 10 moves along the predetermined route. The farm 20 has several pig coordinates 50. If one of the pig coordinates 50 coincides with the predetermined route, the predetermined route is adjusted according to the distances of several detection zones to the feces coordinate. An infrared sensor 18 is also installed at the front end of the cleaning device 10 to detect whether a pig coincides with the predetermined route.

[0048] like Figure 7 As shown, when the cleaning device 10 moves along a predetermined route, the infrared sensor 18 detects that the coordinates of a pig ahead coincide with the predetermined route. It then obtains the distance A0 between the cleaning device's coordinates and the feces' coordinates at this point, moves the cleaning device to a distance of A0+1 from the feces' coordinates, and uses A0+1 as the starting point and the feces' coordinates as the ending point to determine the first memorized route. (Reference) Figure 6, the outer red sensor 18 detects that the live pig coordinate coincides with the established route, and the distance between the cleaning device 10 and the feces coordinate 40 is 2. At this time, the cleaning device 10 can be moved to the left or to the right to a distance of 3 from the feces coordinate 40, and a first memory route is re-established with the point as the starting point. Since the live pig moves in the pig farm 20 in a small range, if the cleaning device 10 moves to the left or to the right irregularly, the memory route established may coincide with the same live pig, thereby affecting the moving efficiency of the cleaning device 10.

[0049] In the above embodiment, the cleaning device is moved to A0+1 from A0 in the weight direction, and the mark point is set in the opposite direction of the weight direction. For example, the cleaning device is moved to A0+1 from A0 to the left, and the weight direction is set to the left, and the mark point is set in the right direction, which indicates that the live pig moves nearby.

[0050] If the live pig coordinate coincides with the first memory route, the distance A1 between the cleaning device coordinate and the feces coordinate at this time is obtained, the cleaning device is moved to A1+1 from the feces coordinate, and a second memory route is established with A1+1 as the starting point and the feces coordinate as the ending point. The direction in which the cleaning device moves from A1 to A1+1 is the same as the weight direction. That is, if the direction in which the cleaning device moves from A0 to A0+1 to the left is set as the weight direction, and the mark point is set in the right direction. When the live pig coordinate coincides with the first memory route, the cleaning device 10 moves to A1+1 from A1 to the left, and the second memory route is established. This avoids the situation that the first memory route is established by moving to the left, and then the second memory route is established by moving to the right, the second memory route coincides with the same live pig, and the moving efficiency of the cleaning device 10 is improved. By analogy, the cleaning device 10 moves to the feces coordinate 40, and the cleaning device 10 is started to clean the feces. Embodiment Three

[0051] On the basis of the above embodiment, the present embodiment is further disclosed. The above embodiment randomly determines a feces coordinate 40, and then establishes and adjusts the route according to the feces coordinate 40. Since the feces coordinate 40 is randomly selected, the cleaning device 10 moves according to the randomly selected feces coordinate 40, which easily increases unnecessary moving distance. To this end, the present embodiment further improves the problem.

[0052] As Figure 8As shown, the farm 20 has a first direction X and a second direction Y, and the manure coordinates 40 are composed of the first direction coordinates and the second direction coordinates. Several manure coordinates 40 are recorded: (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5), (X6, Y6), (X7, Y7)... When determining the manure cleaning order, the first direction coordinates or the second direction coordinates are prioritized. That is, the first direction X coordinate value on the manure coordinates 40 is compared first; if the first direction X coordinate values ​​are equal, the second direction Y coordinate value on the manure coordinates 40 is compared. Subsequently, the manure coordinates are sorted according to the first direction X coordinate values ​​and the second direction Y coordinate values, and the manure coordinates 40 are determined sequentially. This avoids unnecessary movement of the cleaning device due to random determination of manure coordinates, thus improving the endurance of the cleaning device 10. Example 4

[0053] like Figures 9 to 10 As shown in the figure, this embodiment discloses a method for cleaning a farm, which includes the following steps:

[0054] Step 1: Use the image recognition device to identify the coordinates of several pigs, several manure, and cleaning devices within the farm;

[0055] Step 2: Sort the fecal coordinates in sequence and determine one of the fecal coordinates;

[0056] Step 3: Calculate the distance of several detection zones from the coordinates of the feces, determine the predetermined route for the cleaning device to reach the coordinates of the feces, and move the cleaning device along the predetermined route;

[0057] Step 4: Determine whether the pig coordinates coincide with the predetermined route. If the pig coordinates coincide with the predetermined route, adjust the predetermined route according to the distance of several detection areas from the feces coordinates.

[0058] Step 4.1: If the pig coordinates coincide with the predetermined route, obtain the distance A0 between the cleaning device coordinates and the feces coordinates at this time, move the cleaning device to a distance of A0+1 from the feces coordinates, and formulate the first memory route with A0+1 as the starting point and the feces coordinates as the ending point.

[0059] Step 4.2: If the pig coordinates coincide with the first memory route, obtain the distance A1 between the cleaning device coordinates and the feces coordinates at this time, move the cleaning device to a distance of A1+1 from the feces coordinates, and formulate the second memory route with A1+1 as the starting point and the feces coordinates as the ending point.

[0060] Step4.3: the direction of moving the cleaning device from A1 to A1+1 is the same as the weight direction, the direction of moving the cleaning device from A0 to A0+1 is set as the weight direction, and a mark point is set in the opposite direction of the weight direction.

[0061] In the farm cleaning method of the present application, the specific steps of sequentially sorting the coordinates of the excrement in Step 2 are as follows: the coordinates of the excrement are divided into first direction coordinates and second direction coordinates, wherein, when determining the excrement cleaning sequence, the first direction X coordinate value on the excrement coordinate is preferentially compared, if the first direction X coordinate value is equal, the second direction Y coordinate value on the excrement coordinate is compared, and finally the first direction X coordinate value and the second direction Y coordinate value are sorted and the excrement coordinate value is sequentially determined.

[0062] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A farm cleaning system, comprising a farm and cleaning devices for cleaning the farm, characterized in that, The farm is divided into several detection zones. The cleaning device moves in a straight line within the farm. An image recognition device is installed above the farm to identify the coordinates of several pigs, several manure, and the cleaning device within the farm. A fecal coordinate is determined, and the distances from several detection zones to this fecal coordinate are calculated. A predetermined route is established for the cleaning device to reach this fecal coordinate. The cleaning device moves along the predetermined route. If one of the pig coordinates coincides with the predetermined route, the predetermined route is adjusted according to the distances from the several detection zones to the fecal coordinate. An infrared sensor is also installed at the front end of the cleaning device. This infrared sensor detects whether the pigs overlap with the predetermined route. When the cleaning device moves along a predetermined route, if the pig's coordinates coincide with the predetermined route, the distance A0 between the cleaning device's coordinates and the feces' coordinates is obtained. The cleaning device is then moved to a distance of A0+1 from the feces' coordinates, and a first memory route is established with A0+1 as the starting point and the feces' coordinates as the ending point. The direction in which the cleaning device moves from A0 to A0+1 is set as the weight direction, and a marker point is set in the opposite direction of the weight direction. If the pig coordinates coincide with the first memory route, the distance A1 between the cleaning device coordinates and the fecal coordinates is obtained. The cleaning device is moved to a distance of A1+1 from the fecal coordinates, and a second memory route is formulated with A1+1 as the starting point and the fecal coordinates as the ending point. The direction in which the cleaning device moves from A1 to A1+1 is the same as the weight direction.

2. The farm cleaning system according to claim 1, characterized in that, The farm has a first direction and a second direction, and the manure coordinates are composed of the first direction coordinates and the second direction coordinates. When determining the manure cleaning order, the first direction coordinates or the second direction coordinates are preferred.

3. The farm cleaning system according to claim 1 or 2, characterized in that, The cleaning device includes a housing, a drive source, and a first drive wheel. The first drive wheel is installed at the end of the housing and connected to the drive source. The first drive wheel is used to control the movement of the entire cleaning device. Swing arms are installed on both sides of the housing. The swing arms are rotatably connected to the housing via a swing shaft. The swing arms rotate inward or outward along the swing shaft. A cleaning turntable is also installed below the swing arms. A drive motor is built into the swing arms, which drives the cleaning turntable to rotate at high speed.

4. The farm cleaning system according to claim 3, characterized in that, The shell section also includes a fecal suction structure, which includes a connecting frame and a second drive wheel. The second drive wheel is mounted on the connecting frame and connected to a drive source to drive the overall cleaning device. The top of the connecting frame is equipped with a storage cylinder for storing and collecting feces. The bottom of the storage cylinder is equipped with a first feed pipe. The end of the connecting frame away from the second drive wheel is equipped with a fecal suction head, which is connected to a second feed pipe. The second feed pipe is connected to the first feed pipe, and the fecal suction head is used to suck feces into the storage cylinder.

5. The farm cleaning system according to claim 4, characterized in that, The bottom of the connecting frame is equipped with several cleaning nozzles, which are installed directly behind the suction head. The cleaning nozzles spray high-pressure water or disinfectant gas outward.

6. The farm cleaning system according to claim 5, characterized in that, The storage cylinder is provided with a top cover, which has several radial grooves. A conical cylinder is provided above the top cover, and a filter cylinder is provided above the conical cylinder. A cavity is provided above the filter cylinder. The cavity is connected to the storage cylinder through the filter cylinder and the conical cylinder. A fan is installed on the top of the cavity to disperse the odor of feces in the storage cylinder.

7. A method for cleaning a livestock farm, used in the livestock farm cleaning system according to any one of claims 1-3, characterized in that, The cleaning method for this farm includes the following steps: Step 1: Use the image recognition device to identify the coordinates of several pigs, several manure, and cleaning devices within the farm; Step 2: Sort the fecal coordinates in sequence and determine one of the fecal coordinates; Step 3: Calculate the distance of several detection zones from the coordinates of the feces, determine the predetermined route for the cleaning device to reach the coordinates of the feces, and move the cleaning device along the predetermined route; Step 4: Determine whether the pig coordinates coincide with the predetermined route. If the pig coordinates coincide with the predetermined route, adjust the predetermined route according to the distance of several detection areas from the feces coordinates. Step 4.1: If the pig coordinates coincide with the predetermined route, obtain the distance A0 between the cleaning device coordinates and the feces coordinates at this time, move the cleaning device to a distance of A0+1 from the feces coordinates, and formulate the first memory route with A0+1 as the starting point and the feces coordinates as the ending point. Step 4.2: If the pig coordinates coincide with the first memory route, obtain the distance A1 between the cleaning device coordinates and the feces coordinates at this time, move the cleaning device to a distance of A1+1 from the feces coordinates, and formulate the second memory route with A1+1 as the starting point and the feces coordinates as the ending point. Step 4.3: The direction in which the cleaning device moves from A1 to A1+1 is the same as the weight direction. The direction in which the cleaning device moves from A0 to A0+1 is set as the weight direction, and a marker point is set in the opposite direction of the weight direction.

8. The method for cleaning a livestock farm according to claim 7, characterized in that, The specific steps for sorting the fecal coordinates in Step 2 are as follows: the fecal coordinates are divided into first direction coordinates and second direction coordinates. When determining the order of fecal cleaning, the first direction X coordinate value on the fecal coordinates is compared first. If the first direction X coordinate values ​​are equal, the second direction Y coordinate value on the fecal coordinates is compared. Finally, the fecal coordinates are sorted according to the first direction X coordinate value and the second direction Y coordinate value, and the fecal coordinate values ​​are determined in sequence.

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