Movable washing robot; method for cleaning an animal stall

Abstract

The invention relates to a movable washing robot (1) and to a method for cleaning an animal stall, wherein the movable washing robot (1) according to the invention comprises: a chassis (2); at least one drive; running gear; at least one cleaning arm, wherein at least one nozzle head (8) that comprises at least one nozzle (7) is arranged on at least one cleaning arm (6) in order to apply at least one fluid; a computer controller; and at least one radar sensor (24), by means of which an animal stall region to be cleaned is automatically surveyed and / or obstacle detection is automatically carried out, which results in data obtained thereby being automatically available to the computer controller in order to calculate: a travel speed; a position of at least one cleaning arm (6); a position of at least one nozzle head (8); a position of at least one nozzle (7); switching on and off of at least one nozzle (7); and / or a flow rate of a fluid within a nozzle (7), so that a user does not have to train the movable washing robot (1) according to the invention with respect to the animal stall region to be cleaned, which means staffing costs can also be saved.

Description

[0001] Mobile washing robot; method for cleaning a stable

[0002] State of the art

[0003] The invention is based on a mobile washing robot according to the preamble of claim 1, and a method for cleaning a stable according to the preamble of claim 12.

[0004] For hygiene reasons, stables, especially pigpens, are thoroughly cleaned after each visit. This is usually done manually by one person using a high-pressure cleaner. The disadvantage is that cleaning a stable is strenuous, time-consuming, unpleasant, and potentially harmful to health due to the dirt, moisture, odors, ammonia emissions, and germs.

[0005] To overcome these disadvantages, washing robots have been used for some time to clean stables. Typically, a washing robot moves slowly along the stable aisle, spraying a cleaning fluid at high pressure into the pens to be cleaned on one or both sides using long cleaning arms equipped with nozzles. A disadvantage is that these washing robots do not detect obstacles such as supports or pipes, thus making them unsuitable for use in all stables, and the joints are prone to failure. Furthermore, the user must perform manual rework because these washing robots are simply constructed, allowing only one nozzle position to be set, meaning that components in the stable are only sprayed from one spot. To overcome this disadvantage, patent DE 699 32 455 T2 proposes a cleaning device for animal stables comprising a chassis with two pairs of wheels.at least one of which is drivable by means of a drive device connected thereto, and has a nozzle part connected to a cleaning fluid supply for spraying a cleaning fluid, wherein a cleaning arm which is movably attached to the chassis by a joint and to which the nozzle part is movably connected to the outer end of the cleaning arm, has joint means which are provided with position and / or movement registration means for determining the position of the cleaning arm as a function of time, and which are further provided with drive means for setting the cleaning arm in motion, and wherein the cleaning device is further provided with a programmable control unit,which is equipped with inputs for receiving signals from the position and / or movement registration means and with means for determining parking positions, as well as with a memory for storing the signals in the form of a program and outputs for sending control signals, whereby both the drive wheels and the movements of the cleaning arm and the nozzle part can be controlled. The disadvantage here is that the cleaning device must be laboriously programmed for each bay by a user upon initial use through a learning process in which the user manually controls the cleaning device during cleaning of a bay.

[0006] The invention is therefore based on the object of providing a mobile washing robot that overcomes the disadvantages of the prior art and a method for cleaning a stable that overcomes the disadvantages of the prior art.

[0007] The invention and its advantages

[0008] The mobile washing robot according to the invention, with the features of claim 1, and the method according to the invention for cleaning a stable, with the features of claim 12, have the advantage that the mobile washing robot according to the invention, which has a chassis, at least one drive, a running gear, at least one cleaning arm, wherein at least one nozzle head having at least one nozzle is arranged on at least one cleaning arm for dispensing at least one fluid, and a computer control, has at least one radar sensor, by means of which a stable area to be cleaned is automatically measured and / or an obstacle is automatically detected, whereby the data obtained thereby are automatically sent to the computer control for calculating a driving speed, a position of at least one cleaning arm, a position of at least one nozzle head, a position of at least one nozzle,an on and off switching of at least one nozzle and / or a flow rate of a fluid within at least one nozzle are available, so that a user does not have to train the mobile washing robot according to the invention with regard to the stable area to be cleaned, which also saves personnel costs.

[0009] According to an advantageous embodiment of the mobile washing robot according to the invention, at least one cleaning arm is movable on the chassis and / or at least one nozzle head arranged on a cleaning arm is movable on the cleaning arm and / or at least one nozzle arranged on a cleaning arm is movable on the cleaning arm.

[0010] According to an additional advantageous embodiment of the mobile washing robot according to the invention, at least one drive and / or at least one cleaning arm and / or at least one nozzle head and / or at least one nozzle can be controlled by the computer control.

[0011] According to an additional advantageous embodiment of the mobile washing robot according to the invention, at least one cleaning arm is multi-part and / or can be shortened and / or folded.

[0012] According to an additional advantageous embodiment of the mobile washing robot according to the invention, at least one cleaning arm is a telescopic arm or a scissor arm. According to an additional advantageous embodiment of the mobile washing robot according to the invention, the washing robot has at least one guide roller.

[0013] According to an additional advantageous embodiment of the mobile washing robot according to the invention, the washing robot has at least one sensor. Preferably, at least one sensor is an ultrasonic sensor.

[0014] According to an additional advantageous embodiment of the mobile washing robot according to the invention, the washing robot has a display and / or a control panel.

[0015] According to an additional advantageous embodiment of the mobile washing robot according to the invention, the washing robot has a high-pressure cleaning device and / or a connection for a high-pressure cleaning device.

[0016] According to an additional advantageous embodiment of the mobile washing robot according to the invention, the washing robot has at least one soaking nozzle and / or at least one impact device for atomizing a fluid jet from a nozzle. The impact device (e.g., rod, tube) is preferably arranged on a cleaning arm or a nozzle head. This allows the nozzle to be converted into a soaking nozzle, preferably automatically, in particular controlled by the computer control system, so that the installation of a soaking nozzle in the mobile washing robot according to the invention and the corresponding switching to the soaking nozzle via a valve are no longer necessary.

[0017] According to an additional advantageous embodiment of the mobile washing robot according to the invention, at least one drive is an electric drive or a pneumatic motor. The electric drive is preferably battery-operated. If a replaceable battery is used, continuous operation is ensured, as with a wired power supply. When a pneumatic motor is used, the mobile washing robot according to the invention is connected to a pneumatic hose. According to an advantageous embodiment of the method according to the invention for cleaning a stable, in which a mobile washing robot is used, which has a chassis, at least one drive, a chassis, at least one cleaning arm, wherein at least one nozzle head having at least one nozzle is arranged on at least one cleaning arm for discharging at least one fluid, and a computer control system, wherein the washing robot has at least one radar sensor,by which a stable area to be cleaned is automatically measured and / or an obstacle is automatically detected, whereby the data obtained thereby are automatically made available to the computer control for calculating a driving speed, a position of at least one cleaning arm, a position of at least one nozzle head, a position of at least one nozzle, an activation and deactivation of at least one nozzle and / or a flow rate of a fluid within at least one nozzle, the computer control takes into account the driving speed, the position of at least one cleaning arm, the position of at least one nozzle head, the position of at least one nozzle,an activation and deactivation of at least one nozzle and / or a flow velocity of a fluid within at least one nozzle, in addition to the data automatically provided by the at least one radar sensor, also data manually entered by a user (e.g., outer wall height to be cleaned, intermediate wall height to be cleaned (e.g., bay separation), speed correction, degree of contamination).

[0018] According to an advantageous embodiment of the method according to the invention, the manually entered data relate to at least one wall height to be cleaned and / or the degree of soiling.

[0019] According to an additional advantageous embodiment of the method according to the invention, the computer control calculates from the data available to it a driving speed that varies during cleaning, a position of at least one cleaning arm that varies during cleaning, a position of at least one nozzle head that varies during cleaning, a position of at least one nozzle that varies during cleaning, a switching on and off of at least one nozzle that varies during cleaning and / or a flow rate of a fluid within at least one nozzle that varies during cleaning.

[0020] According to an additional advantageous embodiment of the method according to the invention, the surface to be cleaned is soaked with a fluid prior to the actual cleaning, with the fluid being applied through at least one soaking nozzle arranged on the washing robot. A soaking program is preferably started for this purpose. By using at least one soaking nozzle, the installation of a stationary soaking system with soaking nozzles in the stable is eliminated.

[0021] According to an additional advantageous embodiment of the method according to the invention, in order to atomize the fluid to be discharged, the nozzle head and / or the nozzle and / or the impact device are moved into a position such that the fluid jet from the nozzle is atomized on the impact device. This changes the fluid jet (high-pressure jet) from a point jet to a wide distribution, and a spray mist is created instead. The nozzle thus becomes a soaking nozzle when needed. This allows the soaking process to be carried out in a very water-efficient manner. A soaking program is preferably started for this purpose. By using at least one nozzle interacting with an impact device, the installation of a stationary soaking system with soaking nozzles in the stable is eliminated.

[0022] According to an additional advantageous embodiment of the method according to the invention, a washing robot according to one of claims 1 to 12 is used as the washing robot.

[0023] Further advantages and advantageous embodiments of the invention can be found in the following description and the drawings. Drawings

[0024] Preferred embodiments of the subject matter according to the invention are illustrated in the drawings and are explained in more detail below.

[0025] Fig. 1 is a perspective view of a mobile washing robot according to the invention,

[0026] Fig. 2 is a further perspective view of the mobile washing robot according to the invention, according to Fig. 1,

[0027] Fig. 3 is a side view of the mobile washing robot according to the invention, according to Fig. 1,

[0028] Fig. 4 is a further side view of the mobile washing robot according to the invention, as shown in Fig. 1,

[0029] Fig. 5 is a view of the rear of the mobile washing robot according to the invention, as shown in Fig. 1,

[0030] Fig. 6 is a plan view of the mobile washing robot according to the invention, according to Fig. 1,

[0031] Fig. 7 is a view of the rear of the mobile washing robot according to the invention, according to Fig. 1, but for illustration purposes with the cleaning arm retracted and extended,

[0032] Fig. 8 is a perspective detailed view of the nozzle head of the mobile washing robot according to the invention, as shown in Fig. 1,

[0033] Fig. 9 is a detailed view of one side of the nozzle head of the mobile washing robot according to the invention, as shown in Fig. 1, and Fig. 10 is a detailed view of the front of the nozzle head of the mobile washing robot according to the invention, as shown in Fig. 1.

[0034] Description of the embodiment

[0035] Fig. 1 shows a perspective view of a mobile washing robot 1 according to the invention. The washing robot 1 according to the invention, which is used for the automatic cleaning of pig sties primarily, has a chassis 2, which is preferably made of stainless steel to ensure a long service life, a drive which is designed as an electric drive and is operated with replaceable batteries 3, a chassis which has drive wheels 4 (e.g. heavy-duty solid rubber wheels which are robust and puncture-free) and castors 5, wherein at least one caterpillar would also be conceivable, a cleaning arm 6, wherein a nozzle head 8 having a nozzle 7 and a bumper device 9 are arranged on the cleaning arm 6, and a computer control.

[0036] The cleaning arm 6 is a telescopic arm 10 formed from four telescopic elements, namely a telescopic element 11, a telescopic element 12, a telescopic element 13, and a telescopic element 14. The cleaning arm 6 is rotatably mounted on the chassis 2 via a rotating turret 15. A hose reel 16 is mounted on the rotating turret 15, from which a hose line 17, through which the fluid is directed to the nozzle 7, is automatically unwound when the telescopic arm 10 is extended, or onto which a hose line 17 can be automatically wound when the telescopic arm 10 is retracted.

[0037] Adjustable guide rollers 20 are arranged on the chassis 2, which has a rear side 18 and a front side 19, so that the washing robot 1 according to the invention can, for example, hang along a wall (not shown) during operation. Sensors 21 (ultrasonic sensors) are arranged on the rear side 18 and the front side 19 for monitoring the travel path and for automatically detecting the end of the stable. A large hose reel is arranged in the chassis 2, which is connected to the hose reel 16 via a line and from which a hose can be unwound to connect a long hose to the high-pressure device. The hose reel is driven by the drive so that the hose can be automatically unwound during operation or, for example, rolled up when reversing during an obstacle wash. The hose reel is dimensioned so large that long hoses can be accommodated, so that, for example,stables with a length of 80 m can also be cleaned.

[0038] A user (not shown) can start up the washing robot 1 according to the invention using a simple and intuitive operating display 22. In addition to switching on the washing robot 1 according to the invention, the manual lock 23 of the drive is released. A timer program also allows for delayed start-up, so that the start-up only occurs in 5 hours, for example.

[0039] After commissioning, the cleaning arm 6 automatically measures the barn or pen depth using radar sensors 24 arranged on it. Using the data thus determined, a computer calculates the ideal settings for the nozzle 7 (high-pressure nozzle) and for the telescopic arm 10, which can preferably be telescoped up to 2.70 m into the pen, so that pens up to 7 m deep can also be washed. The radar sensors 24 also detect obstacles such as feed drains, supports, or water pipes, so that no modification of the barn is necessary and the washing robot 1 according to the invention can be used in different barn types, in particular in farrowing pens with many obstacles, since the telescopic arm 10 and the nozzle 7 can automatically avoid detected obstacles.

[0040] By means of the nozzle head 8 pivotably arranged on the telescopic arm 10 and the nozzle 7 pivotably arranged on the nozzle head, the washing robot 1 according to the invention washes the stable from different sides and thus produces an optimal washing result. The fully electric washing robot 1 according to the invention, which is equipped with a signal light 25 for safety reasons, is operated by the replaceable battery 3. In principle, no settings need to be made manually, so nothing has to be saved or programmed. Status messages can be configured or received via a smartphone. For example, the washing robot 1 according to the invention, which retracts the cleaning arm 6 and pivots it over the chassis 2 after cleaning, can send a message about successful cleaning to a smartphone after cleaning.

[0041] The washing robot 1 according to the invention, which with a preferably width of only 55 cm can also travel in very narrow aisles, takes on up to 90% of the cleaning work depending on the circumstances, so that the vast majority of dirt is already washed away by the washing robot 1 according to the invention, minimizing the work of subsequent cleaning to a very small extent and making it significantly more pleasant. This saves time and increases employee satisfaction. An automatic soaking program can also be run. In addition to the data automatically determined by the radar sensors 24, a user (not shown) can also enter additional data, e.g. data on the outer wall height to be cleaned, data on the intermediate wall height to be cleaned (e.g. bay partition), data regarding a speed correction and / or data on the degree of soiling.

[0042] Fig. 2 shows a further perspective view of the mobile washing robot 1 according to the invention, according to Fig. 1 .

[0043] Fig. 3 shows a side view of the mobile washing robot 1 according to the invention, according to Fig. 1.

[0044] Fig. 4 shows a further side view of the mobile washing robot 1 according to the invention, according to Fig. 1.

[0045] Fig. 5 shows a view of the rear side 18 of the mobile washing robot 1 according to the invention, as shown in Fig. 1. Fig. 6 shows a plan view of the mobile washing robot 1 according to the invention, as shown in Fig. 1. To clarify the adjustment options of the guide rollers 20, these are each shown in two different positions.

[0046] Fig. 7 shows a view of the rear side 18 of the mobile washing robot 1 according to the invention, as shown in Fig. 1, but for illustration purposes with the cleaning arm 6 retracted and extended. The pivoting nozzle head 8 rotates to different positions during washing, so that, for example, it is rotated 15° for a floor wash and 40° for a wall wash (more towards the stable). When encountering obstacles and at the end of the compartment, the nozzle head 8 pivots automatically so that all parts of the pen are cleaned.

[0047] Fig. 8 shows a perspective detailed view of the nozzle head 8 of the mobile washing robot 1 according to the invention, as shown in Fig. 1. In order to run an automatic soaking program, the nozzle 7, which has a nozzle opening 26, and the impact device 9, which has a baffle surface 27 and is shown as a tube by way of example and has an injury protection 28 for the user (not shown), are positioned relative to one another in such a way that the fluid jet (not shown) ejected from the nozzle opening 26 at least partially impinges on the baffle surface 27, thereby causing the fluid jet to be atomized as necessary for soaking. As a result, the washing robot 1 according to the invention can move quickly through the stable during the soaking program with a wide jet or soaking mist and wet the pen areas.

[0048] Fig. 9 shows a detailed view of one side of the nozzle head of the mobile washing robot 1 according to the invention, as shown in Fig. 1. The fluid is supplied to the nozzle 7 via a high-pressure line 29.

[0049] Fig. 10 shows a detailed view of the front of the nozzle head 8 of the mobile washing robot 1 according to the invention, as shown in Fig. 1. All features presented in the description, the following claims, and the drawings can be essential to the invention both individually and in any combination with one another.

[0050] Reference number list

[0051] 1 washing robot

[0052] 2 chassis

[0053] 3 removable batteries

[0054] 4 drive wheel

[0055] 5 swivel castors

[0056] 6 cleaning arm

[0057] 7 nozzle

[0058] 8 nozzle head

[0059] 9 Impact device

[0060] 10 Telescopic arm

[0061] 11 Telescopic element

[0062] 12 Telescopic element

[0063] 13 Telescopic element

[0064] 14 Telescopic element

[0065] 15 Rotating tower

[0066] 16 hose reel

[0067] 17 Hose line

[0068] 18 Back

[0069] 19 Front

[0070] 20 Leadership role

[0071] 21 Sensor

[0072] 22 Operating display

[0073] 23 Locking

[0074] 24 radar sensor

[0075] 25 Signal light

[0076] 26 Nozzle opening

[0077] 27 Impact surface

[0078] 28 Injury protection

[0079] 29 High-pressure line

Claims

Patent claims 1. Mobile washing robot (1 ), - with a chassis (2), - with at least one drive, - with a chassis, - with at least one cleaning arm (6), wherein at least one nozzle head (8) having at least one nozzle (7) is arranged on at least one cleaning arm (6), and - with a computer control, characterized in that the washing robot (1) has at least one radar sensor (24).

2. Washing robot (1) according to claim 1, characterized in that at least one cleaning arm (6) is movable on the chassis (2) and / or at least one nozzle head (8) arranged on a cleaning arm (6) is movable on the cleaning arm (6) and / or at least one nozzle (7) arranged on a nozzle head (8) is movable on the nozzle head (8).

3. Washing robot (1) according to claim 1 or claim 2, characterized in that at least one drive and / or at least one cleaning arm (6) and / or at least one nozzle head (8) and / or at least one nozzle (7) can be controlled by the computer control.

4. Washing robot (1) according to one of the preceding claims, characterized in that at least one cleaning arm (6) is multi-part and / or can be shortened and / or folded.

5. Washing robot (1 ) according to one of the preceding claims, characterized in that that at least one cleaning arm (6) is a telescopic arm (10) or a scissor arm. Washing robot (1) according to one of the preceding claims, characterized in that the washing robot (1) has at least one guide roller (20). Washing robot (1) according to one of the preceding claims, characterized in that the washing robot (1) has at least one sensor (21). Washing robot (1) according to one of the preceding claims, characterized in that the washing robot (1) has a display and / or a control panel. Washing robot (1) according to one of the preceding claims, characterized in that the washing robot (1) has a high-pressure cleaning device and / or a connection for a high-pressure cleaning device.Washing robot (1) according to one of the preceding claims, characterized in that the washing robot (1) has at least one soaking nozzle and / or at least one impact device (9) for atomizing a fluid jet from a nozzle (7). Washing robot (1) according to one of the preceding claims, characterized in that at least one drive is an electric drive or a pneumatic motor. Method for cleaning a stable, in which a mobile washing robot (1) is used, which has a chassis (2), at least one drive, a running gear, at least one cleaning arm (6), wherein for deploying at least one. Fluids on at least one cleaning arm (6) at least one nozzle head (8) having at least one nozzle (7) is arranged, and has a computer control, characterized in that the washing robot (1) has at least one radar sensor (24) by means of which a stable area to be cleaned is automatically measured and / or an obstacle is automatically detected, whereby data obtained thereby are automatically available to the computer control for calculating a driving speed, a position of at least one cleaning arm (6), a position of at least one nozzle head (8), a position of at least one nozzle (7), an activation and deactivation of at least one nozzle (7) and / or a flow rate of a fluid within at least one nozzle (7).Method according to claim 12, characterized in that the computer control, for calculating the travel speed, the position of at least one cleaning arm (6), the position of at least one nozzle head (8), the position of at least one nozzle (7), the switching on and off of at least one nozzle (7), and / or the flow rate of a fluid within at least one nozzle (7), takes into account not only the data automatically available via the at least one radar sensor (24) but also data manually entered by a user. Method according to claim 13, characterized in that the manually entered data relate to at least one wall height to be cleaned and / or the degree of soiling.Method according to one of claims 12 to 14, characterized in that the computer control determines from the data available to it a driving speed which varies during cleaning, a position of at least one cleaning arm (6) which varies during cleaning, a. a position of at least one nozzle head (8) that varies during cleaning, a position of at least one nozzle (7) that varies during cleaning, a switching on and off of at least one nozzle (7) that varies during cleaning, and / or a flow rate of a fluid within at least one nozzle (7) that varies during cleaning are calculated. Method according to one of claims 12 to 15, characterized in that before the actual cleaning, the surface to be cleaned is soaked with a fluid, wherein the fluid to be applied for this purpose is applied through at least one soaking nozzle arranged on the washing robot (1).Method according to one of claims 12 to 16, characterized in that before the actual cleaning, the surface to be cleaned is soaked with a fluid, wherein the fluid to be applied for this purpose is dispensed through at least one nozzle (7), the fluid jet of which is atomized on a baffle device (9). Method according to one of claims 17, characterized in that for atomizing the fluid to be applied, the nozzle head (8) and / or the nozzle (7) and / or the baffle device (9) are moved into a position such that the fluid jet of the nozzle (7) is atomized on the baffle device (9). Method according to one of claims 12 to 18, characterized in that a washing robot (1) according to one of claims 1 to 12 is used as the washing robot (1).

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