A method for automatically cleaning a chicken house using a cleaning robot

Abstract

The present invention relates to the technical field of chicken house cleaning, and discloses a method for automatically cleaning a chicken house with a cleaning robot, comprising the following steps: step 1, the cleaning robot comprises an AGV chassis, a lifting mechanism, a mechanical arm and a cleaning mechanism; step 2, controlling the cleaning robot to move to the starting position of the current channel, and then controlling the cleaning robot to preliminarily wash the chicken cages on both sides of the current channel at each station along the current channel; when the cleaning robot reaches the end position of the current channel, controlling the cleaning robot to return to the starting position of the current channel, and in the process of returning, preliminarily wash the chicken cages on both sides again at each station along the current channel in a reverse manner, and the preliminary washing adopts a wetting process; step 3, after completing the preliminary washing of the current channel, controlling the cleaning robot to preliminarily wash the chicken cages on both sides of all channels one by one; the present invention adopts two cleaning processes, namely wetting and fine washing, which can realize fast, efficient and full-coverage cleaning of the entire chicken house, can ensure the cleaning quality, and can save cleaning water.

Description

Technical Field

[0001] The present invention relates to the technical field of chicken house cleaning, and in particular to a method for automatically cleaning a chicken house with a cleaning robot. Background Art

[0002] As essential animal foods in the global human diet, chicken and eggs play a crucial role in their production and supply. According to statistics, global chicken production accounts for over 60% of total poultry meat production, demonstrating its dominant position in the poultry industry. With growing market demand, the scale and modernization of the poultry industry are also continuously improving.

[0003] In modern poultry farming, chicken house cleaning is crucial for ensuring profitability, maintaining a clean environment, and preventing the spread of disease. Good chicken house hygiene directly impacts the health and productivity of the birds. However, traditional chicken house cleaning is often done manually, using high-pressure water jets. This method is not only labor-intensive and inefficient, but also results in varying cleaning quality, making it difficult to guarantee uniform standards. Prolonged operation of high-pressure water jets not only leads to fatigue, but also poses a potential health risk to workers in a damp and dirty environment.

[0004] Although the existing manual chicken house cleaning method is widely used, it has significant shortcomings, including high labor intensity, inconsistent cleaning results, and potential threats to the health of operators. Specifically, operators need to hold a high-pressure water gun for a long time, which is not only prone to fatigue, but also may have adverse effects on health due to long-term work in a humid and polluted environment. In addition, manual operation relies on individual skills and experience, resulting in difficulty in maintaining consistent cleaning quality, and efficiency is far lower than the requirements of scale and standardization in the modern poultry industry. These limitations highlight the need for automated cleaning technology, which aims to improve cleaning efficiency, ensure uniform cleaning quality, and reduce manpower requirements. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a method for automatically cleaning chicken houses with a cleaning robot, which solves the problem that the existing manual chicken house cleaning method relies on personal skills and experience, resulting in difficulty in maintaining consistent cleaning quality and efficiency far lower than the requirements of scale and standardization in the modern poultry industry.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A method for automatically cleaning a chicken house with a cleaning robot comprises the following steps:

[0007] Step 1. The chicken house includes a house body, which includes a ceiling, walls and a floor. Multiple rows of chicken cages are arranged in the house at intervals, and passages are formed between two adjacent rows of chicken cages. The chicken cages are provided with four layers, and the four layers of chicken cages are stacked in order from top to bottom. Each layer of chicken cages includes a cage frame, a cage bottom, a feeding trough and a water line. The cleaning robot includes an AGV chassis, a lifting mechanism, a robotic arm and a cleaning mechanism. The cleaning mechanism includes a spray gun, a high-pressure water pipe and an automatic pipe reel. The lifting mechanism and the automatic pipe reel are respectively arranged on the AGV chassis, and the robotic arm is arranged on the lifting mechanism. The spray gun is assembled on the robotic arm. A nozzle is provided on the spray gun. The spray gun is connected to the high-pressure cleaning machine through a high-pressure water pipe. The automatic pipe reel is used to realize automatic release and recovery of the high-pressure water pipe. A controller is provided in the AGV chassis, and the lifting mechanism, the robotic arm and the cleaning mechanism are all connected to the controller.

[0008] Step 2: Control the cleaning robot to move to the starting position of the current channel, and then control the cleaning robot to preliminarily wash the chicken cages on both sides of the current channel one by one; when the cleaning robot reaches the end position of the current channel, control the cleaning robot to return to the starting position of the current channel, and in the process of returning, preliminarily wash the chicken cages on both sides again at each station along the current channel in a reverse manner, and the preliminary washing adopts a wet process;

[0009] Step 3: After completing the initial cleaning of the current channel, control the cleaning robot to perform the initial cleaning of all the chicken cages on both sides of the channel one by one;

[0010] Step 4: Control the cleaning robot to move to the starting position of the current channel, and then control the cleaning robot to clean the chicken cages on both sides of the current channel one by one; when the cleaning robot reaches the end position of the current channel, control the cleaning robot to return to the starting position of the current channel, and in the process of returning, reversely clean the chicken cages on both sides of the current channel one by one, and the fine cleaning adopts the fine cleaning process;

[0011] Step 5: After finishing the fine cleaning of the current channel, control the cleaning robot to fine clean all the chicken cages on both sides of the channel one by one, and the cleaning is completed.

[0012] Preferably, the cleaning robot adopts station-type initial washing and fine washing for the chicken cages on both sides of the current channel. The initial washing and fine washing processes are divided into station searching and station cleaning. During the station searching process, the cleaning robot performs cleaning operations while walking, and the station cleaning mainly completes the cleaning of the chicken cages.

[0013] Preferably, the cleaning robot performs preliminary washing and fine washing on the chicken cages on both sides of the current channel in the order of first the upper two layers and then the lower two layers. The cleaning sequence is: preliminary washing of the upper two layers, preliminary washing of the lower two layers, fine washing of the upper two layers, and fine washing of the lower two layers.

[0014] Preferably, when initially washing the upper two floors, the ceiling is cleaned during the station search process; when fine washing the upper two floors, the food trough is cleaned during the station search process; when initially washing the lower two floors, the food trough is cleaned during the station search process; when fine washing the lower two floors, the floor is cleaned during the station search process.

[0015] Preferably, when initially washing the upper two layers, wet the cage bottom first and then clean the cage frame after arriving at the station; when fine washing the upper two layers, fine wash the cage bottom first and then fine wash the water line after arriving at the station; when initially washing the lower two layers, wet the cage bottom first and then clean the cage frame after arriving at the station; when fine washing the lower two layers, fine wash the cage bottom first and then fine wash the water line after arriving at the station.

[0016] Preferably, the wetting process and the fine washing process respectively use different nozzles and different water pressures, and load different process parameters.

[0017] Preferably, the wetting process uses a diverging nozzle to quickly wet the chicken cage; the fine washing process uses a direct nozzle to deeply clean the severely dirty areas of the chicken cage.

[0018] Preferably, an image capturing device is provided near the spray gun for capturing images of the cleaning area after cleaning, and the controller evaluates the cleaning effect by analyzing these images.

[0019] Preferably, the image is analyzed using a pre-trained machine learning model, which compares the image before and after cleaning to determine whether repeated cleaning is required.

[0020] Preferably, after completing the cleaning of all channels, the cleaning robot sprays disinfectant on the chicken cages on both sides of the channel one by one, and the disinfection path is the same as the initial washing path.

[0021] The present invention provides a method for automatically cleaning a chicken house using a cleaning robot. It has the following beneficial effects:

[0022] 1. When using a cleaning robot to clean an entire chicken house, two cleaning processes are used: wet cleaning and fine cleaning. The wet cleaning and fine cleaning processes use different nozzles and different robot cleaning trajectories, respectively, to achieve fast, efficient, and full-coverage cleaning of the entire chicken house, ensuring cleaning quality while saving cleaning water. The wet cleaning process uses a diverging nozzle to quickly soak the entire chicken house. After a period of soaking, it makes the chicken cages easier to clean, thereby reducing water consumption.

[0023] 2. The present invention automatically controls the cleaning robot to perform specific cleaning tasks along a predetermined path, and utilizes a high-efficiency nozzle system that is adjusted in real time. This not only significantly improves the cleaning speed and frequency, but also ensures deep cleaning and avoids the unevenness problem in manual cleaning, thereby maintaining the hygiene standards of the chicken house and preventing the spread of disease. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A flow chart for cleaning a channel of the present invention;

[0025] Figure 2 is a schematic diagram of the cleaning robot of the present invention;

[0026] Figure 3 A detailed flow chart of steps for a channel of the present invention;

[0027] Figure 4 It is a schematic diagram of a chicken house of the present invention;

[0028] Figure 5 This is a schematic diagram of the cleaning robot of the present invention in a usage scenario.

[0029] Among them, 1. AVG chassis; 2. Lifting mechanism; 3. Robotic arm; 4. Cleaning mechanism; 401. Spray gun; 402. High-pressure water pipe; 403. Automatic hose reel; 5. Ceiling; 6. Wall; 7. Floor; 8. Chicken cage; 801. Cage frame; 802. Cage bottom; 803. Feeding trough; 9. Passage. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0031] Example:

[0032] Please see the attached Figure 1 -Attached Figure 5 , an embodiment of the present invention provides a method for automatically cleaning a chicken house using a cleaning robot, comprising the following steps:

[0033] Step 1: The chicken house includes a house body, which includes a ceiling 5, a wall 6 and a floor 7. There are multiple rows of chicken cages 8 arranged at intervals in the house, and a passage 9 is formed between two adjacent rows of chicken cages. The chicken cages 8 are provided with four layers, and the four layers of chicken cages 8 are stacked in order from top to bottom. Each layer of chicken cages 8 includes a cage frame 801, a cage bottom 802, a feeding trough 803 and a water line; the cleaning robot includes an AGV chassis 1, a lifting mechanism 2, a robotic arm 3 and a cleaning mechanism 4, and the cleaning mechanism 4 includes a spray gun 401, a high-pressure water pipe 402 and The automatic hose reel 403, the lifting mechanism 2, and the automatic hose reel 403 are respectively arranged on the AGV chassis 1, the robotic arm 3 is arranged on the lifting mechanism 2, the spray gun 401 is assembled on the robotic arm 3, the spray gun 401 is provided with a nozzle, and the spray gun 401 is connected to the high-pressure cleaning machine through the high-pressure water pipe 402. The automatic hose reel 403 is used to realize the automatic release and recovery of the high-pressure water pipe 402. The AGV chassis 1 is provided with a controller, and the lifting mechanism 2, the robotic arm 3, and the cleaning mechanism 4 are all connected to the controller;

[0034] Step 2: Control the cleaning robot to move to the starting position of the current channel 9, and then control the cleaning robot to preliminarily wash the chicken cages 8 on both sides of the current channel 9 at each station; when the cleaning robot reaches the end position of the current channel 9, control the cleaning robot to return to the starting position of the current channel 9, and in the process of returning, preliminarily wash the chicken cages 8 on both sides again at each station along the current channel 9 in a reverse manner, and the preliminary washing adopts a wet process;

[0035] Step 3: After completing the initial cleaning of the current channel 9, control the cleaning robot to perform the initial cleaning of all the chicken cages 8 on both sides of the channel 9 one by one;

[0036] Step 4: Control the cleaning robot to move to the starting position of the current channel 9, and then control the cleaning robot to clean the chicken cages 8 on both sides of the current channel 9 one by one; when the cleaning robot reaches the end position of the current channel 9, control the cleaning robot to return to the starting position of the current channel 9, and in the process of returning, clean the chicken cages 8 on both sides again one by one along the current channel 9 in a reverse manner, and the fine cleaning adopts the fine cleaning process;

[0037] Step 5: After finishing the fine cleaning of the current channel 9, the cleaning robot is controlled to fine clean all the chicken cages 8 on both sides of the channels 9 one by one, and the cleaning is finished.

[0038] The cleaning robot performs station-based initial and final washing on the chicken cages 8 on both sides of the current passage 9, setting a certain distance as a station. The initial and final washing processes are divided into station search and station cleaning. During the station search process, the cleaning robot performs cleaning operations while walking, and station cleaning mainly completes the cleaning of the chicken cages 8. The cleaning robot performs initial and final washing on the chicken cages 8 on both sides of the current passage 9 in the order of first the upper two layers and then the lower two layers. The cleaning sequence is: initial washing of the upper two layers, initial washing of the lower two layers, final washing of the upper two layers, and final washing of the lower two layers. Specifically, the cleaning robot's cleaning path for the chicken cages 8 on both sides of the current passage 9 is: initial washing of the upper two layers once round trip → initial washing of the lower two layers once round trip → final washing of the upper two layers once round trip → final washing of the lower two layers once round trip.

[0039] During the initial wash of the upper two floors, the ceiling 5 is cleaned during the station search process. During the fine wash of the upper two floors, the food trough 803 is cleaned during the station search process. During the initial wash of the lower two floors, the food trough 803 is cleaned during the station search process. During the fine wash of the lower two floors, the floor 7 is cleaned during the station search process. During the initial wash of the upper two floors, upon arrival at the station, the cage bottom 802 is first wetted, and then the cage rack 801 is cleaned. During the fine wash of the upper two floors, upon arrival at the station, the cage bottom 802 is first cleaned, and then the water line is cleaned. During the initial wash of the lower two floors, upon arrival at the station, the cage bottom 802 is first wetted, and then the cage rack 801 is cleaned. During the fine wash of the lower two floors, upon arrival at the station, the cage bottom 802 is first cleaned, and then the water line is cleaned.

[0040] The cleaning process of the entire chicken house adopts a channel-by-channel 9 cleaning method, and each channel 9 adopts a station-by-station cleaning method. The cleaning robot can achieve full coverage cleaning of the entire chicken house, ensuring that the cleaning task is completed without omission. Specifically, the cleaning robot is controlled to first perform a preliminary cleaning of all channels 9 one by one, and then perform a fine cleaning of all channels 9 one by one. The robot's walking path is the same during the preliminary cleaning and fine cleaning stages, but the robot's cleaning trajectory is different (such as: the movement trajectory of the robotic arm 3 is different). In this embodiment, the cleaning robot is controlled to move along the predetermined cleaning path to each station based on magnetic nail navigation; when the cleaning robot moves along the predetermined cleaning path, real-time position adjustment technology is used to ensure accurate navigation and collision avoidance. The real-time position adjustment technology is based on at least one sensor to detect surrounding obstacles and adjust the direction and speed of travel. The height and angle of the robotic arm 3 can be automatically adjusted by the controller according to different areas of the chicken house to optimize the coverage range and cleaning effect of the spray gun 401. During the cleaning process, the cleaning robot uses water pressure sensors and angle sensors to monitor and adjust the water pressure and spray angle of each nozzle in real time to adapt to cleaning needs at different heights and distances. In addition, an image capture device (not shown) is located near the spray gun 401 to capture images of the cleaned area after cleaning. The controller analyzes these images to assess the cleaning effect. The images are analyzed using a pre-trained machine learning model, which compares the differences between the images before and after cleaning to determine whether repeated cleaning is necessary. The cleaning effect of the cleaned area after cleaning is evaluated. If the preset cleaning standard is not met, the cleaning steps are repeated until the cleaning requirements are met.

[0041] The controller is equipped with a user interface that allows the user to input cleaning parameters including but not limited to water pressure, nozzle type and process parameters. In order to obtain the best cleaning quality and save cleaning time and water consumption, the cleaning of the chicken cages 8 on both sides of each channel 9 is divided into two steps: initial washing and fine washing. The initial washing adopts a wetting process, and the fine washing adopts a fine washing process. The wetting process and the fine washing process respectively use different nozzles and different water pressures, and load different process parameters. The wetting process uses a divergent nozzle to quickly soak the chicken cages 8. The wetting process has the effect of soaking and softening feces; the fine washing process uses a direct nozzle to deeply clean the severely dirty areas of the chicken cages 8. The water pressure is adjusted by the following formula:

[0042] P=k·(d-d0) 2 +P0

[0043] Where P is the required water pressure, k is the proportional constant adjusted according to the material and degree of contamination, d is the actual distance from the spray gun to the target surface, d0 is the optimal spraying distance, and P0 is the basic water pressure.

[0044] In this embodiment, after all channels 9 are cleaned, the cleaning robot sprays disinfectant on the chicken cages 8 on both sides of each channel 9, following the same disinfection path as the initial cleaning path. Disinfecting the chicken house can prevent the spread of disease.

[0045] When using a cleaning robot to clean an entire chicken house, two cleaning processes are employed: wet and fine cleaning. The wet and fine cleaning processes utilize different nozzles and robot cleaning trajectories, respectively, enabling fast, efficient, and full-coverage cleaning of the entire chicken house, ensuring both cleaning quality and water conservation. The wet cleaning process utilizes a diverging nozzle, which rapidly wets the entire chicken house. This period of soaking makes cleaning the chicken cages 8 easier, thus reducing water consumption.

[0046] The present invention automatically controls the cleaning robot to perform specific cleaning tasks along a predetermined path, and utilizes a high-efficiency nozzle system that is adjusted in real time. This not only significantly improves the cleaning speed and frequency, but also ensures deep cleaning and avoids the unevenness problem in manual cleaning, thereby maintaining the hygiene standards of the chicken house and preventing the spread of disease.

[0047] 1. Cleaning Robot

[0048] AVG Chassis 1: Utilizes a magnetic navigation system that allows the cleaning robot to move precisely along a pre-set path. Magnetic navigation is chosen for its high reliability and accuracy in complex and changing environments, particularly in challenging chicken house conditions such as slippery and uneven floors.

[0049] The AVG chassis 1 incorporates various sensors, such as proximity sensors and ground scanning sensors, to monitor and adapt to varying ground conditions. These sensors enable the robot to adjust its speed and stability when encountering wet or uneven surfaces, preventing it from slipping or getting stuck.

[0050] The chicken house floor is equipped with magnetic nails. Through the magnetic nail navigation, the cleaning robot can follow a very precise path, which is crucial to ensure that every area is cleaned evenly. The enhanced adaptability allows the cleaning robot to maintain optimal performance in various conditions, ensuring the continuity and efficiency of the cleaning process.

[0051] Lifting Mechanism 2 and Robotic Arm 3: This mechanism is designed to move Robotic Arm 3 vertically over a wide range, allowing the spray gun 401 to reach any height from ceiling to floor. The stability and precise control of the lifting mechanism 2 are achieved through advanced hydraulic or screw systems, which provide smooth and controlled movement for Robotic Arm 3.

[0052] The robotic arm 3 is equipped with 6 degrees of freedom and can operate the spray gun 401 in any direction and angle, ensuring that it can deeply clean the interior of the chicken cage 8 and hard-to-reach corners. The design of the robotic arm 3 also takes into account repeatability and durability to ensure reliability during long-term operation.

[0053] The robot's high flexibility allows it to complete complex cleaning tasks without human intervention. The design of the robot arm 3 ensures thorough cleaning, as it can reach all heights and corners of the chicken house.

[0054] Cleaning mechanism 4 includes a spray gun 401, a high-pressure water hose 402, and an automatic hose reel 403. Spray gun 401 is equipped with a nozzle and connects to the high-pressure cleaning machine via the high-pressure water hose 402. The automatic hose reel 403 automatically releases and retracts the high-pressure water hose 402. The automatic hose reel 403 adaptively matches the release and retraction speeds of the high-pressure water hose 402 to the movement speed of the AVG chassis 1, ensuring that the high-pressure water hose 402 remains properly tensioned during the cleaning process, providing the foundation for the robot's fully automated chicken coop cleaning operations.

[0055] The cleaning robot is equipped with an intelligent control system that monitors cleaning status in real time and adjusts operating parameters. The system uses sensor data to assess cleaning effectiveness and, if necessary, makes adjustments, such as increasing water pressure, adjusting the speed of the AVG chassis 1, or changing the cleaning angle, to ensure maximum cleaning efficiency and optimal resource utilization.

[0056] Operators can remotely monitor and control the cleaning process through the user interface, which provides real-time data display, including water pressure, cleaning robot position, completion status, etc. Users can also adjust the cleaning path or other related parameters as needed.

[0057] 2. High-pressure cleaning machine

[0058] The high-pressure cleaner is mounted outside the poultry house, in a dedicated machinery room or a safe area with easy access to water and power. This external mounting solution helps protect the equipment from the humid, corrosive environment inside the poultry house, extending its lifespan.

[0059] High-pressure cleaners are equipped with highly efficient pumps that generate sufficient water pressure for powerful cleaning. The system design includes a pressure regulator and safety valve to ensure stable water pressure output within a safe range, maintaining cleaning effectiveness even when operated from a distance.

[0060] The water pressure can be adjusted to suit different cleaning stages, such as initial and final washes. For example, lower water pressure may be required during the initial wash to avoid damage to the poultry house, while higher water pressure may be required during the final wash to remove stubborn stains.

[0061] High-pressure cleaners are equipped with modern control systems that enable remote monitoring and adjustment. Operators can check water pressure status, adjust output parameters, and perform fault diagnosis via the control panel or mobile app, ensuring continuous and safe operation.

[0062] The high-pressure cleaner and the cleaning robot work together through a high-pressure water pipe 402. A dedicated high-pressure durable water pipe is used to connect the fixed high-pressure cleaner to the spray gun 401 on the cleaning robot. This design allows the high-pressure water pipe 402 to freely expand and contract as the cleaning robot moves, while ensuring stable transmission of water pressure.

[0063] The robot's control system is synchronized with the high-pressure cleaner's control system via wireless communication, ensuring that the water pressure during the cleaning process matches the robot's position and cleaning needs. This synchronized operation reduces water pressure waste and insufficient cleaning.

[0064] By separating the water pressure generating equipment from the actuating equipment, the cleaning robot design is lighter and more maneuverable, enhancing its flexibility. This separation ensures that the cleaning robot can be moved more quickly to the area requiring cleaning, without being restricted by weight. The fixed-mount high-pressure cleaner is easier to maintain and operate, reducing the risk of failures associated with complex equipment. Furthermore, the external mounting allows for easy access when needed, facilitating both routine maintenance and emergency repairs.

[0065] 3. Cleaning process

[0066] The chicken coop consists of a main body, which includes a ceiling 5, walls 6, and floor 7. Rows of chicken cages 8 are arranged in intervals within the coop, with passages 9 forming between adjacent rows. The cages 8 are arranged in four layers, stacked from top to bottom. Each layer of cages 8 includes a cage frame 801, a cage floor 802, a feeding trough 803, and a water line (not shown). The water line runs through the cage frame 801. The cleaning robot can achieve full coverage cleaning of the entire chicken coop, ensuring that no part of the cleaning task is missed.

[0067] Before starting, the cleaning robot performs a comprehensive self-test to ensure that all key systems, such as the hydraulic system, navigation system, and robotic arm 3, are in optimal working condition. This check includes verification of sensor functionality, connection stability, and software configuration status.

[0068] After completing the self-test, the cleaning robot uses its navigation system to automatically locate the starting position of the selected cleaning channel 9. During this process, the cleaning robot will perform precise position correction according to the magnetic nail navigation path to ensure that the cleaning task starts from the most appropriate position.

[0069] The entire chicken house is cleaned aisle by aisle, with each aisle being cleaned station by station. The cleaning robot stops at each pre-set station and performs both initial and final cleaning operations. This method ensures that every part is thoroughly and evenly treated.

[0070] The cleaning process of a specific channel is described in detail below.

[0071] Select the cleaning channel 9, and the cleaning robot performs station-based initial and final washing on the chicken cages 8 on both sides of the current channel 9. The initial and final washing processes are divided into station-finishing and station-based cleaning. During the station-finding process, the cleaning robot performs cleaning operations while walking, and station-based cleaning mainly completes the cleaning of the chicken cages 8. The cleaning robot performs initial and final washing on the chicken cages 8 on both sides of the current channel 9 in the order of first the upper two layers and then the lower two layers. The cleaning sequence is: initial washing of the upper two layers, initial washing of the lower two layers, final washing of the upper two layers, and final washing of the lower two layers. Specifically, the cleaning path of the cleaning robot for the chicken cages 8 on both sides of the current channel 9 is: initial washing of the upper two layers once round trip → initial washing of the lower two layers once round trip → final washing of the upper two layers once round trip → final washing of the lower two layers once round trip.

[0072] During the initial wash of the upper two floors, the ceiling 5 is cleaned during the station search process. During the fine wash of the upper two floors, the food trough 803 is cleaned during the station search process. During the initial wash of the lower two floors, the food trough 803 is cleaned during the station search process. During the fine wash of the lower two floors, the floor 7 is cleaned during the station search process. During the initial wash of the upper two floors, upon arrival at the station, the cage bottom 802 is first wetted, and then the cage rack 801 is cleaned. During the fine wash of the upper two floors, upon arrival at the station, the cage bottom 802 is first cleaned, and then the water line is cleaned. During the initial wash of the lower two floors, upon arrival at the station, the cage bottom 802 is first wetted, and then the cage rack 801 is cleaned. During the fine wash of the lower two floors, upon arrival at the station, the cage bottom 802 is first cleaned, and then the water line is cleaned.

[0073] During the initial cleaning phase, the robot uses a diffuser nozzle to quickly cover the entire area to be cleaned. This process is not only fast but also widely softens accumulated dirt and feces. The diffuser nozzle uses a low-pressure but high-flow water flow to quickly wet the surface, preparing it for a deep clean.

[0074] After the initial wash, the robot switches to direct-jet nozzles, which deliver high water pressure to target softened dirt areas, particularly heavily soiled areas like the cage floor and waterline. The high water pressure during the fine wash effectively removes stubborn dirt and eliminates pathogens, ensuring a hygienic and safe chicken house.

[0075] Comparative Example:

[0076] A traditional chicken house cleaning method comprises the following steps:

[0077] Step 1: Empty the chicken coop

[0078] Removing the birds: Before cleaning begins, all birds need to be removed from the house to a safe place to avoid stress or injury to them during the cleaning process.

[0079] Step 2: Rough cleaning

[0080] Cleaning up manure and waste: Use a shovel and broom to manually clean manure, waste feed, and other debris from the floor, cages, and walkways of the chicken house. This step is to remove large pieces of dirt and residue.

[0081] Step 3: Washing and disinfection

[0082] Washing: Use a high-pressure water gun or a regular garden hose to clean the walls, floors, and cages in the chicken house to remove adhering dirt and feces.

[0083] Disinfectant Application: After washing, thoroughly disinfect the chicken house with a disinfectant. Common disinfectants include bleach solution, iodine tincture, or commercial animal house disinfectant products. This step is crucial to preventing the spread of disease.

[0084] Step 4: Ventilate and dry

[0085] Natural drying: After cleaning and disinfection, open the doors and windows of the chicken house to allow air circulation to help dry the chicken house. Do not allow the chickens to return until the chicken house is completely dry.

[0086] Step 5: Inspection and repair

[0087] Facility inspection: While the chicken house is drying, check whether the chicken house facilities, such as feeders, waterers, windows and fences need to be repaired or replaced.

[0088] Equipment Repair: Repair or replace damaged parts to ensure the house is in top condition when the birds return.

[0089] Step 6: Re-lay the bed material

[0090] Add new bedding materials: According to the specific requirements of the chicken house, lay new straw, sawdust or other absorbent materials as bedding materials to provide a comfortable and clean environment for the chickens.

[0091] Table 1 Experimental data of examples and comparative examples

[0092]

[0093]

[0094] Data interpretation:

[0095] Cleaning Time: Automated methods utilize efficient mechanical devices to significantly reduce the overall time required for cleaning and improve operational efficiency.

[0096] Labor requirements: Traditional methods require multiple people to work simultaneously, while automated methods usually only require one person to operate the machine, greatly reducing the labor burden.

[0097] Disinfection uniformity: Automated cleaning equipment uses evenly distributed nozzles and program control to ensure that the disinfectant evenly covers all areas, avoiding omissions that may be caused by manual operation.

[0098] Thorough cleaning: Automated equipment can reach areas of the chicken house that are difficult to reach manually, such as the bottom of the cage and corners, providing more thorough cleaning.

[0099] Disease incidence: Because automated cleaning is more thorough and uniform, the spread of disease caused by inadequate cleaning is significantly reduced.

[0100] The above data and analysis show that although the initial investment of the automated cleaning method is higher, in the long run, it is superior to traditional methods in terms of efficiency, effectiveness and cost-effectiveness, and is a better choice for modern large-scale chicken house management.

[0101] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for automatically cleaning a chicken house using a cleaning robot, characterized in that: The following steps are involved: Step 1, the chicken house includes a house body, the house body includes a ceiling (5), a wall (6) and a floor (7), a plurality of rows of chicken cages (8) are arranged in intervals in the house body, a passage (9) is formed between two adjacent rows of the chicken cages (8), the chicken cages (8) are provided with four layers, the four layers of the chicken cages (8) are stacked in order from top to bottom, and each layer of the chicken cages (8) includes a cage frame (801), a cage bottom (802), a feeding trough (803) and a water line; the cleaning robot includes an AGV chassis (1), a lifting mechanism (2), a mechanical arm (3) and a cleaning mechanism (4), the cleaning mechanism (4) includes a spray gun (401), a high-pressure water pipe (402), and a cleaning mechanism (403). 2) and an automatic hose reel (403), the lifting mechanism (2) and the automatic hose reel (403) are respectively arranged on the AGV chassis (1), the mechanical arm (3) is arranged on the lifting mechanism (2), the spray gun (401) is assembled on the mechanical arm (3), the spray gun (401) is provided with a nozzle, the spray gun (401) is connected to the high-pressure cleaning machine through a high-pressure water pipe (402), the automatic hose reel (403) is used to realize automatic release and recovery of the high-pressure water pipe (402), the AGV chassis (1) is provided with a controller, and the lifting mechanism (2), the mechanical arm (3) and the cleaning mechanism (4) are all connected to the controller; Step 2: Control the cleaning robot to move to the starting position of the current channel (9), and then control the cleaning robot to preliminarily wash the chicken cages (8) on both sides at each station along the current channel (9); when the cleaning robot reaches the end position of the current channel (9), control the cleaning robot to return to the starting position of the current channel (9), and in the process of returning, preliminarily wash the chicken cages (8) on both sides again at each station along the current channel (9) in a reverse manner, and the preliminary washing adopts a wet process; Step 3: After completing the initial washing of the current channel (9), control the cleaning robot to perform the initial washing of all the chicken cages (8) on both sides of the channels (9) one by one; Step 4: Control the cleaning robot to move to the starting position of the current channel (9), and then control the cleaning robot to fine-clean the chicken cages (8) on both sides at each station along the current channel (9); when the cleaning robot reaches the end position of the current channel (9), control the cleaning robot to return to the starting position of the current channel (9), and in the process of returning, fine-clean the chicken cages (8) on both sides again at each station along the current channel (9) in a reverse manner, and the fine cleaning adopts a fine cleaning process; Step 5: After finishing the fine cleaning of the current channel (9), control the cleaning robot to fine clean all the chicken cages (8) on both sides of the channel (9) one by one, and the cleaning is finished; The cleaning robot adopts station-type initial washing and fine washing for the chicken cages (8) on both sides of the current channel (9). The initial washing and fine washing processes are divided into station-finding and station-finishing. During the station-finding process, the cleaning robot performs cleaning operations while walking. The station-finishing mainly completes the cleaning of the chicken cages (8); The cleaning robot performs preliminary cleaning and fine cleaning on the chicken cages (8) on both sides of the current channel (9) in the order of first the upper two layers and then the lower two layers, and the cleaning sequence is: preliminary cleaning of the upper two layers, preliminary cleaning of the lower two layers, fine cleaning of the upper two layers, and fine cleaning of the lower two layers; when preliminary cleaning the upper two layers, the ceiling (5) is cleaned during the station search process; when fine cleaning the upper two layers, the food trough (803) is cleaned during the station search process; when preliminary cleaning the lower two layers, the food trough (803) is cleaned during the station search process; when fine cleaning the lower two layers, the floor (7) is cleaned during the station search process; when preliminary cleaning the upper two layers, the cage bottom (802) is wetted first after arriving at the station and then the cage frame (801); when fine cleaning the upper two layers, the cage bottom (802) is finely cleaned first after arriving at the station and then the water line is finely cleaned; when preliminary cleaning the lower two layers, the cage bottom (802) is wetted first after arriving at the station and then the cage frame (801) is cleaned; when fine cleaning the lower two layers, the cage bottom (802) is finely cleaned first after arriving at the station and then the water line is finely cleaned.

2. The method for automatically cleaning a chicken house using a cleaning robot according to claim 1, characterized in that: The wetting process and the fine washing process respectively use different nozzles and different water pressures, and load different process parameters.

3. The method for automatically cleaning a chicken house using a cleaning robot according to claim 2, characterized in that: The wetting process uses a diverging nozzle to quickly wet the chicken cage (8); the fine washing process uses a direct nozzle to deeply clean the seriously dirty areas of the chicken cage (8).

4. The method for automatically cleaning a chicken house using a cleaning robot according to claim 1, characterized in that: An image capturing device is provided near the spray gun (401) for capturing images of the cleaning area after cleaning, and the controller evaluates the cleaning effect by analyzing these images.

5. The method for automatically cleaning a chicken house using a cleaning robot according to claim 4, characterized in that: The images are analyzed using a pre-trained machine learning model, which compares the differences between the images before and after cleaning to determine whether repeated cleaning is necessary.

6. The method for automatically cleaning a chicken house using a cleaning robot according to claim 1, characterized in that: After completing the cleaning of all channels (9), the cleaning robot sprays disinfectant on the chicken cages (8) on both sides of the channels (9) one by one, and the disinfection path is the same as the initial washing path.

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