Livestock barn cleaning device, livestock barn cleaning method and livestock barn cleaning system

Abstract

To provide a device for cleaning a livestock barn.SOLUTION: A livestock barn cleaning device includes a replaceable cleaning member.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a livestock house cleaning device, a livestock house cleaning method, and a livestock house cleaning system. [Background technology]

[0002] Cleaning livestock barns for raising livestock such as cows, pigs, and chickens is hard work and places a heavy burden on humans.

[0003] Therefore, cleaning devices capable of automatically cleaning livestock pens are sometimes used. For example, Patent Document 1 describes a cleaning device capable of cleaning livestock pens by spraying a cleaning solution or a disinfectant solution from a nozzle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-160211 Summary of the Invention [Problem to be solved by the invention]

[0005] SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus for cleaning livestock housing. [Means for solving the problem]

[0006] The object of the present invention is to [1] A livestock house cleaning device having replaceable cleaning members; [2] The livestock house cleaning apparatus according to [1], wherein the cleaning member is a member for cleaning with a liquid, a member for cleaning with a gas, and / or a member for cleaning with an electromagnetic wave; [3] The livestock house cleaning apparatus according to [1] or [2] above, which is provided with an arm portion capable of holding a cleaning member; [4] The livestock house cleaning apparatus according to any one of [1] to [3] above, which is provided with a storage member for storing a liquid and / or gas for cleaning; [5] The livestock house cleaning apparatus according to any one of [1] to [4], which is capable of moving inside the livestock house according to a predetermined movement path and / or operation input; [6] The livestock house cleaning apparatus according to any one of [1] to [5], which is capable of cleaning the livestock house using a cleaning member according to a predetermined cleaning program and / or operation input; [7] A livestock house cleaning method, comprising cleaning a livestock house using the livestock house cleaning apparatus according to any one of [1] to [6] above; [8] A livestock house cleaning system comprising the livestock house cleaning device according to any one of [1] to [6] above, a mobile wireless device provided in the livestock house cleaning device, and a plurality of fixed wireless devices provided in the livestock house, the livestock house cleaning system comprising: a distance calculation means for calculating a distance between each of the plurality of fixed wireless devices and the mobile wireless device based on a propagation time of information or signals between each of the plurality of fixed wireless devices and the mobile wireless device; a location determination means for determining a location of the mobile wireless device based on the calculated distance between each of the plurality of fixed wireless devices and the mobile wireless device; and a movement control means for controlling the livestock house cleaning device to move along a predetermined movement route based on the determined position; This can be achieved by: [Effects of the Invention]

[0007] According to the present invention, an apparatus for cleaning livestock pens can be provided. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an example of a livestock house cleaning apparatus according to an embodiment of the present invention. [Figure 2] 1 is a block diagram showing a configuration of a livestock house cleaning apparatus according to an embodiment of the present invention. [Figure 3] 1 is a diagram illustrating an example of a livestock house cleaning system according to an embodiment of the present invention. [Figure 4]10 is a flowchart of a movement control process according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following describes embodiments of the present invention, but the present invention is not limited to the following embodiments as long as they do not violate the spirit of the present invention. The order of each process constituting the flowcharts described below is random as long as no contradictions or inconsistencies occur in the process content. Furthermore, it is possible to omit some of the processes constituting the flowcharts or add new processes to each process constituting the flowcharts as long as they do not violate the spirit of the present invention. Furthermore, the device that executes each process constituting the flowcharts can be changed to another device as long as it does not violate the spirit of the present invention. In this case, the process content can be changed so as not to cause contradictions or inconsistencies in the process content.

[0010] [Animal barn cleaning equipment] Fig. 1 is a diagram showing an example of a livestock house cleaning apparatus according to an embodiment of the present invention. The livestock house cleaning apparatus 1 shown in Fig. 1 includes a main body 11, a control device 12, an arm 13, wheels 14 (14a to 14d), cleaning members 15 (15a to 15d), and storage members 16 (16a to 16d). The livestock house cleaning apparatus 1 shown in Fig. 1 also includes a mobile wireless device 17. The mobile wireless device 17 will be described later.

[0011] FIG. 1(A) is a first perspective view of the livestock house cleaning apparatus 1, and FIG. 1(B) is a second perspective view of the livestock house cleaning apparatus 1. The second perspective view shows a side of the main body 11, which is not shown in the first perspective view. In the livestock house cleaning apparatus 1 shown in FIG. 1, the up and down of the livestock house cleaning apparatus 1 when the livestock house cleaning apparatus 1 is placed so that the four wheels 14 contact the ground is defined as the up and down of the livestock house cleaning apparatus 1. In addition, in the livestock house cleaning apparatus 1 shown in FIG. 1, the side having the cleaning member 15 is defined as the front, and the side having the storage member 16 is defined as the rear. The livestock house cleaning apparatus 1 may be able to move back and forth using the wheels 14.

[0012] The livestock house cleaning apparatus 1 is preferably capable of moving inside the livestock house. The livestock house cleaning apparatus 1 may be capable of moving on the ground, for example, or may be capable of moving in the air. When the livestock house cleaning apparatus 1 is capable of moving on the ground, the livestock house cleaning apparatus 1 may move on the ground using wheels, or may move on the ground using leg-like members. When the livestock house cleaning apparatus 1 is capable of moving in the air, the livestock house cleaning apparatus 1 is preferably equipped with a member for moving in the air, such as a propeller. In FIG. 1, the livestock house cleaning apparatus 1 is a vehicle capable of moving on the ground using four wheels 14 (14a to 14d).

[0013] 1, the livestock house cleaning apparatus 1 is provided with four wheels 14a to 14d, but the number of wheels 14 provided in the livestock house cleaning apparatus 1 is not particularly limited and can be designed as appropriate. Furthermore, the shape, material, and size of the wheels 14 are not particularly limited and can be designed as appropriate. The number, shape, material, and size of the wheels 14 may be designed depending on the size and shape of the main body 11 of the livestock house cleaning apparatus 1, the condition of the floor surface of the livestock house, etc.

[0014] 1, the shape of the main body 11 is a substantially rectangular parallelepiped, but the shape of the main body 11 is not particularly limited and can be designed as appropriate. The material and size of the main body 11 are also not particularly limited and can be designed as appropriate. The shape, material, and size of the main body 11 may be designed according to the size, quantity, shape, etc. of the members provided inside the main body 11, the size, shape, etc. of the area to be cleaned by the livestock house cleaning apparatus 1, the cleaning method to be performed by the livestock house cleaning apparatus 1, etc.

[0015] 1, a control device 12, cleaning members 15 (15a to 15d), and storage members 16 (16a to 16d) are provided inside a main body 11. The control device 12 is visible from the side of the livestock house cleaning apparatus 1, and the cleaning members 15 are visible from the front and rear of the livestock house cleaning apparatus 1.

[0016] The control device 12 may be configured to control the movement of the livestock house cleaning apparatus 1 and the cleaning performed by the livestock house cleaning apparatus 1. The control device 12 may include a control unit, a storage unit, a RAM, a communication unit, etc. In FIG. 1, the control device 12 is configured so as to be visible from the outside of the livestock house cleaning apparatus 1, but it may also be configured so as not to be visible from the outside of the livestock house cleaning apparatus 1.

[0017] The cleaning members 15 are members used by the livestock house cleaning apparatus 1 to clean the livestock house. The cleaning members 15 may be used for cleaning while being held by the arm 13, or may be used for cleaning while being provided on the main body 11. In Fig. 1, of the four cleaning members 15a to 15d, the cleaning member 15a is held by the arm 13.

[0018] The cleaning member 15 is replaceable. For example, after performing cleaning using the cleaning member 15a, the livestock house cleaning apparatus 1 can replace the cleaning member 15 held by the arm 13 with the cleaning member 15b and perform cleaning using the cleaning member 15b. In other words, the cleaning member 15 functions as an attachment.

[0019] The cleaning member 15 may be a member for cleaning with a liquid, a member for cleaning with a gas, and / or a member for cleaning with an electromagnetic wave.

[0020] The member for cleaning with a liquid is not particularly limited as long as it is capable of cleaning the barn using a liquid. For example, the member for cleaning with a liquid may be a structure equipped with a nozzle (hereinafter also referred to as a nozzle structure). The nozzle structure may, for example, be one that sprays liquid in a shower, one that sprays liquid in the form of bubbles, or one that sprays liquid in the form of a beam.

[0021] The type of liquid is not particularly limited as long as it can be used to clean livestock barns. For example, the liquid may be a cleaning liquid, a disinfectant, or water. By spraying the liquid from the nozzle, dirt can be washed away and disinfection can be performed.

[0022] When cleaning with a liquid, the liquid may be sprayed in a mixed state of liquid and gas, or a mixture of multiple liquids may be sprayed. In addition, when a pump, a motor, etc. are used to spray the liquid, the livestock house cleaning apparatus 1 may be equipped with the pump, the motor, etc.

[0023] The member for cleaning with gas is not particularly limited as long as it is capable of cleaning livestock barns using gas. For example, the member for cleaning with gas may be a nozzle structure. The nozzle structure may be, for example, a straight type, a flat type, or a curtain type.

[0024] The type of gas is not particularly limited as long as it can be used to clean livestock barns. For example, the gas may be air, carbon dioxide, dimethyl ether (DME), alternative chlorofluorocarbons (HCFCs and HFCs), or propane. By spraying the gas from the nozzle, dirt can be blown away.

[0025] The gas may be in a gaseous state when it is ejected, and may be in a liquid state under high pressure during storage. In addition, when a compressor, a motor, or the like is used to eject the gas, the livestock house cleaning apparatus 1 may be equipped with the compressor, the motor, or the like.

[0026] The member for cleaning by electromagnetic waves is not particularly limited as long as it is capable of cleaning livestock houses using electromagnetic waves. For example, the member for cleaning by electromagnetic waves may be an ultraviolet ray irradiation lamp, a laser light irradiation device, or an electron beam irradiation device.

[0027] The type (wavelength) of the electromagnetic waves is not particularly limited as long as it can be used to clean livestock barns. For example, the electromagnetic waves may be ultraviolet rays, laser light, or electron beams. By irradiating these electromagnetic waves, it is possible to remove dirt and sterilize.

[0028] When a generator of laser light, electron beam, or the like is used to irradiate laser light, electron beam, or the like, the livestock house cleaning apparatus 1 may be equipped with the generator of laser light, electron beam, or the like. The generator of laser light, electron beam, or the like may be provided, for example, inside the main body 11 of the livestock house cleaning apparatus 1. The generator of laser light, electron beam, or the like and the cleaning member 15 may be connected in a manner that allows the laser light, electron beam, or the like to circulate. For example, the generator of laser light, electron beam, or the like and the cleaning member 15 may be connected by a connecting member such as a pipe. The connecting member may be provided inside the main body 11 and inside the arm 13.

[0029] The cleaning member 15 may be provided in such a manner that it can be removed from the outside of the livestock house cleaning apparatus 1 by an arm 13, as shown in FIG.

[0030] The number of cleaning members 15 included in the livestock house cleaning apparatus 1 is not particularly limited and can be designed as appropriate. Furthermore, the number of types of cleaning members 15 included in the livestock house cleaning apparatus 1 is not particularly limited and can be designed as appropriate. The types of cleaning members 15 may be classified according to the cleaning method that can be performed by the cleaning members 15. For example, the livestock house cleaning apparatus 1 may be equipped with two types of cleaning members 15: a member for cleaning with a liquid and a member for cleaning with a gas. Alternatively, for example, the livestock house cleaning apparatus 1 may be equipped with three types of cleaning members 15: an ultraviolet irradiation lamp, a laser light irradiation device, and an electron beam irradiation device, as members for cleaning with electromagnetic waves.

[0031] When the livestock house cleaning apparatus 1 is equipped with multiple types of cleaning members 15, cleaning can be performed using various cleaning methods by changing and using the cleaning members 15. Furthermore, since the cleaning members 15 are of an attachment type that can be replaced, one arm 13 can be used in common for multiple cleaning members 15, and therefore the size of the livestock house cleaning apparatus 1 can be made smaller than when multiple cleaning arms are provided.

[0032] The storage member 16 is a member that stores a liquid and / or gas for cleaning. The liquid for cleaning stored in the storage member 16 may be, for example, a cleaning liquid, a disinfectant, or water. The gas for cleaning stored in the storage member 16 may be, for example, air, carbon dioxide, dimethyl ether (DME), a chlorofluorocarbon alternative (HCFC or HFC), or propane. The gas may be in a gaseous state when ejected, and may be in a liquid state under high pressure during storage.

[0033] 1, the shape of the storage member 16 is a substantially rectangular parallelepiped, but the shape of the storage member 16 is not particularly limited and can be designed as appropriate. Furthermore, the material and size of the storage member 16 are not particularly limited and can be designed as appropriate. The shape, material, and size of the storage member 16 may be designed depending on the amount of liquid and / or gas stored in the storage member 16, the internal pressure when the storage member 16 stores the liquid and / or gas, the shape and size of the portion of the livestock house cleaning apparatus 1 where the storage member 16 is provided, etc.

[0034] The number of storage members 16 included in the livestock house cleaning apparatus 1 is not particularly limited and can be designed as appropriate. Furthermore, the number of types of storage members 16 included in the livestock house cleaning apparatus 1 is not particularly limited and can be designed as appropriate. The types of storage members 16 may be classified according to the type of substance stored in the storage members 16. For example, the livestock house cleaning apparatus 1 may be provided with two types of storage members 16: a member that stores a liquid and a member that stores a gas. Alternatively, for example, the livestock house cleaning apparatus 1 may be provided with three types of storage members 16 that store liquids: a member that stores a cleaning liquid, a member that stores a disinfectant liquid, and a member that stores water.

[0035] The type and / or number of the accommodation members 16 included in the livestock house cleaning apparatus 1 are preferably designed according to the type and / or number of the cleaning members 15 included in the livestock house cleaning apparatus 1.

[0036] 1, the storage member 16 may be provided in a manner that allows it to be removed from the outside of the livestock house cleaning apparatus 1. By providing the storage member 16 in a manner that allows it to be removed from the outside of the livestock house cleaning apparatus 1, it is possible to easily replace the storage member 16. The storage member 16 may also be replaceable.

[0037] The livestock house cleaning apparatus 1 may clean the livestock house by spraying the liquid and / or gas contained in the containing member 16 from a nozzle using a pump, a compressor, a motor, etc. The pump, compressor, motor, etc. may be provided, for example, inside the main body 11 of the livestock house cleaning apparatus 1. Furthermore, the containing member 16 and the cleaning member 15 may be connected in a manner that allows the liquid and / or gas to circulate therebetween. For example, the containing member 16 and the cleaning member 15 may be connected by a connecting member such as a hose. The connecting member may be provided inside the main body 11 and inside the arm 13.

[0038] The arm 13 is not particularly limited as long as it has a protruding shape like an arm. It is preferable that the arm 13 is capable of holding the cleaning member 15. For example, the arm 13 may be provided with a holding portion for holding the cleaning member 15. The holding portion may have a structure capable of physically holding the cleaning member 15, or may have a structure capable of electromagnetically holding the cleaning member 15. The arm 13 may also be capable of holding the storage member 16 by means of the holding portion.

[0039] The arm 13 may have at least one joint (axis). When the arm 13 has at least one joint (axis), it becomes easy to displace the cleaning member 15 held by the arm 13 in three dimensions.

[0040] 1, the arm 13 is provided on the top surface of the livestock house cleaning apparatus 1, but the position at which the arm 13 is provided on the livestock house cleaning apparatus 1 is not particularly limited and can be designed as appropriate. For example, the arm 13 may be provided on the front surface, side surface, or rear surface of the livestock house cleaning apparatus 1.

[0041] 1, the livestock house cleaning apparatus 1 includes one arm 13, but the number of arms 13 included in the livestock house cleaning apparatus 1 is not particularly limited and can be designed as appropriate. For example, the livestock house cleaning apparatus 1 may include two or more arms 13. When the livestock house cleaning apparatus 1 includes two or more arms 13, it becomes possible to simultaneously clean the livestock house using two or more cleaning members 15.

[0042] 2 is a block diagram showing the configuration of a livestock house cleaning apparatus according to an embodiment of the present invention. The livestock house cleaning apparatus 1 includes a control unit 101, a storage unit 102, a RAM 103, a communication unit 104, a wheel driving unit 105, an arm driving unit 106, an imaging unit 107, and a sensor unit 108, which may be connected to each other via a bus.

[0043] The control unit 101 is composed of a CPU and a ROM. The control unit 101 executes programs stored in the storage unit 102 and controls the livestock house cleaning apparatus 1. The RAM 103 is a work area for the control unit 101. The storage unit 102 is a storage area for saving programs and data. In other words, the storage unit 102 functions as a recording medium that stores programs. The control unit 101 performs arithmetic processing based on the programs and data read from the RAM 103.

[0044] The communication unit 104 can be connected to a communication network wirelessly or via a wire, and can send and receive data to and from other computer devices via the communication network. Data received by the communication unit 104 is loaded into RAM 103, and arithmetic processing is performed by the control unit 101. The other computer device may be, for example, a terminal (hereinafter also referred to as a washer terminal) operated by a washer who cleans livestock houses using the livestock house cleaning apparatus 1.

[0045] As described above, the control unit 101, the storage unit 102, the RAM 103, and / or the communication unit 104 may be included in the control device 12.

[0046] The wheel driving unit 105 is for driving the wheels 14. The wheel driving unit 105 may include, for example, a motor. The wheel driving unit 105 may be controlled by the control unit 101.

[0047] The arm driving unit 106 is for driving the arm 13. The arm driving unit 106 may include, for example, a motor. The arm driving unit 106 may be controlled by the control unit 101.

[0048] The imaging unit 107 is for capturing images of the environment around the livestock house cleaning apparatus 1 and / or the exterior of the livestock house cleaning apparatus 1. The imaging unit 107 may include, for example, a camera. The imaging unit 107 can be installed at any location in the livestock house cleaning apparatus 1. The images captured by the imaging unit 107 may be transmitted to the cleaner terminal by the communication unit 104, or may be stored in the storage unit 102. The images may be moving images or still images.

[0049] The sensor unit 108 is for acquiring information about the environment surrounding the livestock house cleaning apparatus 1 and / or information about the livestock house cleaning apparatus 1. The sensor unit 108 may include various sensors, such as an infrared sensor, a pressure sensor, an acceleration sensor, and a gyro sensor. For example, the sensor unit 108 can measure the distance between the livestock house cleaning apparatus 1 and the walls of the livestock house, equipment within the livestock house, etc., using an infrared sensor. Furthermore, the sensor unit 108 can detect how the livestock house cleaning apparatus 1 is moving using an acceleration sensor and a gyro sensor. Furthermore, the sensor unit 108 can detect a collision between the livestock house cleaning apparatus 1 and the walls of the livestock house, equipment within the livestock house, etc., using a pressure sensor and an acceleration sensor. The pressure sensor may be provided on a part that faces the front of the livestock house cleaning apparatus 1 in the traveling direction or on a convex part on the outer shape of the livestock house cleaning apparatus 1. Other sensors may be installed at any location on the livestock house cleaning apparatus 1.

[0050] The information acquired by the sensor unit 108 may be transmitted to the control unit 101. Based on the information acquired by the sensor unit 108, the control unit 101 can detect that a fall or collision has occurred in the livestock house cleaning apparatus 1. When it is detected that a fall or collision has occurred in the livestock house cleaning apparatus 1, the communication unit 104 may transmit a notification indicating that a fall or collision has occurred to the washer terminal.

[0051] Furthermore, as will be described later, the control unit 101 may identify the location of the livestock house cleaning apparatus 1 based on the propagation time of communication between the mobile wireless device 17 provided in the livestock house cleaning apparatus 1 and multiple fixed wireless devices provided in the livestock house. Alternatively, although not shown, the livestock house cleaning apparatus 1 may be equipped with a satellite positioning system (Global Navigation Satellite System: GNSS) such as GPS, and the location of the livestock house cleaning apparatus 1 may be identified by the satellite positioning system. Alternatively, the control unit 101 may identify the location of the livestock house cleaning apparatus 1 based on an image captured by the imaging unit 107 and / or information acquired by the sensor unit 108. The control unit 101 can identify the location of the livestock house cleaning apparatus 1 by using any one or more of these methods.

[0052] The livestock house cleaning apparatus 1 may be capable of moving inside the livestock house according to a predetermined movement path and / or operation input.

[0053] The predetermined movement route may be, for example, a movement route set in advance by a cleaner. By transmitting the movement route from the cleaner terminal to the livestock house cleaning apparatus 1 and storing the movement route in the storage unit 102, the control unit 101 can move the livestock house cleaning apparatus 1 along the movement route.

[0054] The movement route may include information (hereinafter also referred to as position information) regarding the position of the livestock house cleaning apparatus 1 from the start of movement to the end of movement. The movement route may be configured, for example, with the position information of the livestock house cleaning apparatus 1 associated with time or order. The movement route may include position information of a starting point, a destination point, and / or at least one intermediate point. The position information may be expressed as latitude, longitude, and altitude, or may be expressed as coordinates of a coordinate system (for example, XYZ coordinates of a Cartesian coordinate system). When the position information is expressed based on a Cartesian coordinate system, any point in the livestock house where the livestock house cleaning apparatus 1 performs cleaning can be set as the origin of the Cartesian coordinate system.

[0055] For example, the control unit 101 may identify in which direction the livestock house cleaning apparatus 1 should be moved from its current position to move along the movement path based on the identified position of the livestock house cleaning apparatus 1, the image captured by the imaging unit 107, and / or the information acquired by the sensor unit 108, and control the wheel driving unit 105 to move in the identified direction. Note that "moving along the movement path" may mean moving the livestock house cleaning apparatus 1 so that its position is on the movement path, or may mean moving it so that it is within a predetermined range from a position on the movement path.

[0056] When the livestock house cleaning apparatus 1 moves inside the livestock house according to an operation input, it may move inside the livestock house according to an operation instruction input to the washer terminal. Information relating to the operation instruction input to the washer terminal is transmitted to the livestock house cleaning apparatus 1. The control unit 101 of the livestock house cleaning apparatus 1 can control the wheel drive unit 105 according to the received information relating to the operation instruction.

[0057] Furthermore, the livestock house cleaning apparatus 1 may be capable of cleaning the livestock house using cleaning members in accordance with a predetermined cleaning program and / or operation input.

[0058] The predetermined cleaning program may be, for example, a cleaning program set in advance by a cleaner. By transmitting the cleaning program from the cleaner terminal to the livestock house cleaning apparatus 1 and storing the cleaning program in the storage unit 102, the control unit 101 can clean the livestock house according to the cleaning program.

[0059] The cleaning program may include the type of cleaning member 15 to be used for cleaning, the location in the barn where cleaning is to be performed, the object to be cleaned, the cleaning method, etc. The cleaning program may be associated with the movement path. For example, the cleaning program may specify at which location within the movement path, which type of cleaning member 15 to use, what object to clean, and how to clean it.

[0060] For example, when the control unit 101 determines that a position specified by the cleaning program has been reached, it may control the arm driving unit 106 to hold the specified cleaning member 15 by the arm 13 and clean the specified object in a specified manner. The control unit 101 may determine whether the specified object has been cleaned based on an image captured by the imaging unit 107.

[0061] When the livestock house cleaning apparatus 1 cleans the livestock house in accordance with an operation input, the livestock house cleaning apparatus 1 may clean the livestock house in accordance with an operation instruction input to a washer terminal. Information relating to the operation instruction input to the washer terminal is transmitted to the livestock house cleaning apparatus 1. The control unit 101 of the livestock house cleaning apparatus 1 can control the arm driving unit 106 in accordance with the received information relating to the operation instruction. The washer can make an operation input based on an image captured by the imaging unit 107.

[0062] Although not shown, the livestock house cleaning apparatus 1 may include a power supply unit for supplying power to the control device 12, the wheel drive unit 105, the arm drive unit 106, the imaging unit 107, the sensor unit 108, etc. The livestock house cleaning apparatus 1 may also include any other configuration.

[0063] By using the livestock house cleaning apparatus 1 to clean the livestock house, the burden on the cleaner to clean the inside of the livestock house can be reduced.

[0064] Although the above description has been given of the livestock house cleaning apparatus 1 including the main body 11, the control device 12, the arm 13, the wheel 14, the cleaning member 15, and the storage member 16, the cleaning member 15 and the storage member 16 do not have to be provided in the livestock house cleaning apparatus 1. For example, the livestock house cleaning apparatus 1 including the main body 11, the control device 12, the arm 13, and the wheel 14 may perform cleaning using a replaceable cleaning member 15. In this case, the livestock house cleaning apparatus 1 and the replaceable cleaning member 15 can be considered to constitute a livestock house cleaning system.

[0065] [Animal barn cleaning system] Next, a description will be given of an example of a system for cleaning a livestock house using the above-described livestock house cleaning apparatus 1. Fig. 3 is a diagram showing an example of a livestock house cleaning system according to an embodiment of the present invention.

[0066] The livestock house cleaning system 10 shown in Fig. 3 includes a livestock house cleaning device 1 (1a and 1b), a mobile wireless device 17 (17a and 17b) provided in the livestock house cleaning device 1, and fixed wireless devices 7 (7a to 7c) provided in the livestock house 2. The livestock house 2 is also provided with a water supply device 3, a feeding device 4, a window 5, and a light 6. Although there are multiple windows and lights in Fig. 3, the reference numerals are omitted except for one window and one light.

[0067] There are no particular limitations on the mobile wireless device 17 and the fixed wireless device 7 as long as they are capable of communicating with each other. The mobile wireless device 17 and the fixed wireless device 7 may each include, for example, a control unit such as a microcomputer, a communication unit such as an RF chip, an internal clock, etc.

[0068] Although three fixed wireless devices 7 are provided in FIG. 3 , the number of fixed wireless devices 7 provided in the livestock house cleaning system 10 is not particularly limited and can be designed as appropriate. The number of fixed wireless devices 7 provided in the livestock house cleaning system 10 is preferably two or more. When the livestock house cleaning system 10 includes multiple fixed wireless devices 7, it is preferable that each fixed wireless device 7 is assigned an identifier for identifying the respective fixed wireless device 7. Here, a fixed wireless device ID is assigned as an identifier for identifying the fixed wireless device 7, and location information of each fixed wireless device 7 is stored in association with the fixed wireless device ID in the storage unit 102 of the livestock house cleaning apparatus 1. As described above, the location information may be expressed in latitude, longitude, and altitude, or may be expressed as coordinates in a coordinate system (for example, XYZ coordinates of a Cartesian coordinate system). Furthermore, the fixed wireless device ID and the location information of each fixed wireless device 7 may also be stored in association with each other in the storage unit of the cleaner terminal.

[0069] 3, two mobile wireless devices 17 are provided, but the number of mobile wireless devices 17 provided in the livestock house cleaning system 10 is not particularly limited and can be designed as appropriate. The number of mobile wireless devices 17 provided in the livestock house cleaning system 10 may be one or more. When the livestock house cleaning system 10 includes multiple mobile wireless devices 17, it is preferable that an identifier for identifying each mobile wireless device 17 is assigned to each mobile wireless device 17. Here, it is assumed that a mobile wireless device ID is assigned as the identifier for identifying the mobile wireless device 17.

[0070] 3, two livestock house cleaning apparatuses 1 are provided, but the number of livestock house cleaning apparatuses 1 provided in the livestock house cleaning system 10 is not particularly limited and can be designed as appropriate. The number of livestock house cleaning apparatuses 1 provided in the livestock house cleaning system 10 may be one or more. When the livestock house cleaning system 10 includes multiple livestock house cleaning apparatuses 1, it is preferable that each livestock house cleaning apparatus 1 is assigned an identifier for identifying the respective livestock house cleaning apparatus 1. Here, it is assumed that a livestock house cleaning apparatus ID is assigned as the identifier for identifying the livestock house cleaning apparatus 1.

[0071] It is preferable that in the storage section of the cleaner's terminal, the livestock house cleaning apparatus ID corresponding to the livestock house cleaning apparatus 1 and the mobile wireless device ID corresponding to the mobile wireless device 17 provided in the livestock house cleaning apparatus 1 are stored in association with each other.

[0072] 3, one livestock house cleaning apparatus 1 is provided with one mobile wireless device 17, but two or more mobile wireless devices 17 may be provided with one livestock house cleaning apparatus 1. In this case, two or more mobile wireless device IDs are stored in association with one livestock house cleaning apparatus ID in the storage unit 102 of the livestock house cleaning apparatus 1 and / or the storage unit of the washer terminal. In this case, installation location information indicating where in the livestock house cleaning apparatus 1 each mobile wireless device 17 is installed may be stored in association with the mobile wireless device ID. The installation location of the mobile wireless device 17 in the livestock house cleaning apparatus 1 may be, for example, the main body 11 of the livestock house cleaning apparatus 1, the arm 13 of the livestock house cleaning apparatus 1, or the cleaning member 15 of the livestock house cleaning apparatus 1.

[0073] Furthermore, even if one livestock house cleaning apparatus 1 is equipped with one mobile wireless device 17, the storage unit 102 of the livestock house cleaning apparatus 1 and / or the storage unit of the cleaner terminal may store information on the installation location of the mobile wireless device 17 in association with the mobile wireless device ID.

[0074] The mobile wireless device 17 and the fixed wireless device 7 can communicate with each other wirelessly. The mobile wireless device 17 and the fixed wireless device 7 can communicate directly without going through a communication network. The livestock house cleaning apparatus 1 can calculate the distance between each of the multiple fixed wireless devices 7 and the mobile wireless device 17 based on the propagation time of information or signals between each of the multiple fixed wireless devices 7 and the mobile wireless device 17. The livestock house cleaning apparatus 1 may also identify the position of the mobile wireless device 17 based on the calculated distance between each of the multiple fixed wireless devices 7 and the mobile wireless device 17. The livestock house cleaning apparatus 1 may also control the livestock house cleaning apparatus 1 so that the livestock house cleaning apparatus 1 moves along a predetermined movement route based on the identified position.

[0075] 4 is a flowchart of the movement control process according to the embodiment of the present invention. First, the mobile wireless device 17 transmits a signal to the fixed wireless device 7 (step S101). The fixed wireless device 7 receives the transmitted signal (step S102). The fixed wireless device 7 transmits a signal to the mobile wireless device 17 (step S103). The mobile wireless device 17 receives the transmitted signal (step S104). The mobile wireless device 17 calculates the distance between the mobile wireless device 17 and the fixed wireless device 7 (step S105). The mobile wireless device 17 transmits the calculated distance to the livestock house cleaning apparatus 1 (step S106). The livestock house cleaning apparatus 1 receives the transmitted distance (step S107). The livestock house cleaning apparatus 1 identifies the position of the mobile wireless device 17 based on the received distance (step S108). The livestock house cleaning apparatus 1 controls the movement of the livestock house cleaning apparatus 1 based on the identified position (step S109), and the movement control process ends.

[0076] Information may be transmitted instead of a signal in step S101. The information or signal transmitted in step S101 may include a request to have the fixed wireless device 7 transmit information or a signal.

[0077] In step S103, information may be transmitted instead of a signal. The information or signal transmitted in step S103 may include the time when the fixed wireless device 7 received the information or signal in step S102 and / or the time when the fixed wireless device 7 transmits the information or signal in step S103. Furthermore, the information or signal transmitted in step S103 may include the fixed wireless device ID of the fixed wireless device 7 transmitting the information or signal.

[0078] In the following description, steps S101 to S104 will be described assuming that signals are transmitted and received, but the term "signal" can be read as "information or signal" as appropriate.

[0079] In step S105, mobile wireless device 17 can calculate the distance between mobile wireless device 17 and fixed wireless device 7 by multiplying the propagation time of a signal between mobile wireless device 17 and fixed wireless device 7 by the propagation speed of the signal (e.g., the speed of light). The propagation time of the signal between mobile wireless device 17 and fixed wireless device 7 may be calculated from the difference between the time when mobile wireless device 17 transmitted the signal in step S101 and the time when fixed wireless device 7 received the signal in step S102, or may be calculated from the difference between the time when fixed wireless device 7 transmitted the signal in step S103 and the time when mobile wireless device 17 received the signal in step S104, or may be calculated from the average of these two differences. The calculation of the distance between mobile wireless device 17 and fixed wireless device 7 may be performed in a control unit such as a microcomputer provided in mobile wireless device 17.

[0080] The distance between the mobile wireless device 17 and the fixed wireless device 7 calculated in this manner becomes more accurate the smaller the time difference between the internal clocks of the mobile wireless device 17 and the fixed wireless device 7. Therefore, correction may be performed to eliminate the time difference between the internal clocks of the mobile wireless device 17 and the fixed wireless device 7. Furthermore, correction may be performed for the phase difference between the internal clocks of the mobile wireless device 17 and the fixed wireless device 7. The correction of the time and / or phase difference between the internal clocks of the mobile wireless device 17 and the fixed wireless device 7 may be performed at predetermined time intervals.

[0081] In step S106, the mobile wireless device 17 may transmit the calculated distance to the livestock house cleaning device 1 equipped with the mobile wireless device 17.

[0082] In step S106, the fixed wireless device ID of the fixed wireless device 7 that transmitted the signal in step S103 is transmitted together with the calculated distance. Although Fig. 4 shows an example of a process for calculating the distance between one of the fixed wireless devices 7 provided in the livestock house cleaning system 10 and the mobile wireless device 17, the mobile wireless device 17 can calculate the distance between itself and a plurality of other fixed wireless devices 7 provided in the livestock house cleaning system 10 and transmit the calculated distance to the livestock house cleaning device 1. By transmitting the fixed wireless device ID together with the calculated distance, it is possible to identify which fixed wireless device 7 the distance is between.

[0083] The livestock house cleaning apparatus 1 can identify the position of the mobile wireless device 17 based on the position information of the multiple fixed wireless devices 7 and the distance between each of the multiple fixed wireless devices 7 and the mobile wireless device 17. Specifically, for example, the position of the mobile wireless device 17 may be identified as the intersection of spheres whose centers are the positions of the respective fixed wireless devices 7 and whose radii are the distances between the respective fixed wireless devices 7 and the mobile wireless device 17. The identification of the position may be performed by the control unit 101.

[0084] It is preferable that the time when the distance between each fixed wireless device 7 and the mobile wireless device 17 is calculated is close to that of the other fixed wireless devices 7 and the mobile wireless device 17, which is used to identify the location of the mobile wireless device 17. By using distances calculated at closer times, the location of the mobile wireless device 17 can be identified more accurately.

[0085] The number of pieces of distance data between the fixed wireless devices 7 and the mobile wireless devices 17 used to identify the position of the mobile wireless device 17 is not particularly limited. For example, if the fixed wireless devices 7 and the mobile wireless devices 17 are located on the same plane, the number of pieces of distance data may be three. If the fixed wireless devices 7 and the mobile wireless devices 17 are not located on the same plane, the number of pieces of distance data may be four. Alternatively, if a position identified by GNSS or information acquired by the sensor unit 108 is used in addition to the distance between the fixed wireless devices 7 and the mobile wireless devices 17, the number of pieces of distance data used to identify the position of the mobile wireless device 17 may be two or one.

[0086] Since the mobile wireless device 17 is provided in the livestock house cleaning apparatus 1, the position of the mobile wireless device 17 identified in step S108 may be considered to be the position of the livestock house cleaning apparatus 1. Therefore, in step S109, the livestock house cleaning apparatus 1 may be controlled to move along a predetermined movement path based on the position identified in step S108. The above description can be referenced to the extent necessary for the manner in which the livestock house cleaning apparatus 1 is controlled to move along a predetermined movement path.

[0087] The movement control process may be performed at a predetermined time interval. For example, the movement control process may be performed once every 1 / 30 seconds, once every 1 / 2 seconds, or once every second. By performing the movement control process at shorter time intervals, the movement of the livestock house cleaning apparatus 1 can be controlled more precisely.

[0088] In the above, the movement of the livestock house cleaning apparatus 1 is controlled by considering the position of the identified mobile radio device 17 as the position of the livestock house cleaning apparatus 1. However, for example, if the mobile radio device 17 is provided on the arm 13 or cleaning member 15 of the livestock house cleaning apparatus 1, the cleaning operation of the livestock house cleaning apparatus 1 may be controlled based on the position of the identified mobile radio device 17.

[0089] When the location of the mobile wireless device 17 is identified using a plurality of fixed wireless devices 7 installed in the livestock house 2 and a mobile wireless device 17 installed in the livestock house cleaning apparatus 1, it is possible to accurately identify the location of the mobile wireless device 17 even when the mobile wireless device 17 is located inside a building. Also, when a plurality of mobile wireless devices 17 are installed at a plurality of locations in the livestock house cleaning apparatus 1, it is possible to accurately identify the location of each mobile wireless device 17.

[0090] Furthermore, although not shown, the position of the mobile wireless device 17 identified in step S108 may be transmitted to the washer terminal. When the livestock house cleaning system 10 includes a plurality of mobile wireless devices 17 and / or a plurality of livestock house cleaning apparatuses 1, it is preferable that the mobile wireless device ID and / or livestock house cleaning apparatus ID corresponding to the identified mobile wireless device 17 be transmitted to the washer terminal together with the position of the mobile wireless device 17. The received position of the mobile wireless device 17 may be displayed in a two-dimensional or three-dimensional virtual space representing the inside of the livestock house in the washer terminal. The washer can execute operation inputs for moving the livestock house cleaning apparatus 1 and / or for cleaning the livestock house while referring to the position of the mobile wireless device 17 on the washer terminal.

[0091] Furthermore, although not shown, the location of the mobile wireless device 17 identified in step S108 may be stored in the storage unit 102 of the livestock house cleaning apparatus 1 and / or the storage unit of the washer terminal. The location of the mobile wireless device 17 is preferably stored in association with the time when the location was identified. Furthermore, if the livestock house cleaning system 10 includes multiple mobile wireless devices 17 and / or multiple livestock house cleaning apparatuses 1, it is preferable to store the mobile wireless device ID and / or livestock house cleaning apparatus ID corresponding to the identified mobile wireless device 17 in association with the location of the mobile wireless device 17.

[0092] Returning to the explanation of Figure 3, it is assumed that the livestock house cleaning apparatus 1b is controlled to move along the moving path 8. In Figure 3, the livestock house cleaning apparatus 1b is on the moving path 8, with the cleaning member 15 held by the arm 13 facing the window 5. Note that the reference numerals for the arm 13 and the cleaning member 15 are omitted in Figure 3.

[0093] 3, three cleaning members 15 and two storage members 16 are placed in the corners of the livestock pen 2. The livestock pen cleaning apparatus 1 may be able to use the arm 13 to exchange the cleaning members 15 provided in the livestock pen cleaning apparatus 1 with the cleaning members 15 provided in the livestock pen 2. The livestock pen cleaning apparatus 1 may be able to use the arm 13 to exchange the storage members 16 provided in the livestock pen cleaning apparatus 1 with the storage members 16 provided in the livestock pen 2.

[0094] In this way, spare cleaning members 15 and storage members 16 may be provided inside the livestock pen 2. By providing spare cleaning members 15 and storage members 16 inside the livestock pen 2, it becomes easy to perform cleaning with a cleaning member 15 different from the cleaning member 15 provided in the livestock pen cleaning apparatus 1, to perform cleaning with a substance different from the substance stored in the storage member 16 provided in the livestock pen cleaning apparatus 1, and to replenish the substance stored in the storage member 16 provided in the livestock pen cleaning apparatus 1 when it runs out.

[0095] When cleaning multiple livestock houses using the livestock house cleaning apparatus 1, the livestock house cleaning apparatus 1 can be moved outside the livestock houses according to a predetermined movement path and / or operation input. Alternatively, the livestock house cleaning apparatus 1 can be moved by a person physically pushing it.

[0096] In this way, the livestock house cleaning apparatus is provided with replaceable cleaning members, so that an apparatus for cleaning livestock houses can be provided.

[0097] Furthermore, since the cleaning member is a member for cleaning with a liquid, a member for cleaning with a gas, and / or a member for cleaning with electromagnetic waves, the livestock barn can be cleaned with a liquid, a gas, and / or an electromagnetic wave.

[0098] Furthermore, by providing the livestock house cleaning apparatus with an arm portion capable of holding the cleaning member, the cleaning member can be held by the arm, allowing cleaning to be performed in three dimensions.

[0099] Furthermore, by providing the livestock house cleaning apparatus with a storage member that stores liquid and / or gas for cleaning, the liquid and / or gas can be stored within the livestock house cleaning apparatus.

[0100] Furthermore, since the livestock house cleaning apparatus is capable of moving inside the livestock house according to a predetermined movement path and / or operation input, the livestock house cleaning apparatus can be moved according to a predetermined movement path and / or operation input.

[0101] Furthermore, since the livestock house cleaning apparatus is capable of cleaning the livestock house using cleaning members in accordance with a predetermined cleaning program and / or operational input, the livestock house cleaning apparatus can be made to perform cleaning in accordance with a predetermined cleaning program and / or operational input.

[0102] Furthermore, by using the livestock house cleaning device to clean the livestock house in this way, it is possible to reduce the workload of people involved in cleaning the livestock house.

[0103] Furthermore, a livestock house cleaning system comprising a livestock house cleaning device, a mobile radio device provided in the livestock house cleaning device, and multiple fixed radio devices provided in the livestock house is equipped with a distance calculation means that calculates the distance between each of the multiple fixed radio devices and the mobile radio device based on the propagation time of information or signals between each of the multiple fixed radio devices and the mobile radio device, a position determination means that determines the position of the mobile radio device based on the calculated distance between each of the multiple fixed radio devices and the mobile radio device, and a movement control means that controls the livestock house cleaning device to move along a predetermined movement route based on the determined position, thereby making it possible to determine the position of the livestock house cleaning device using the radio device and control the movement of the livestock house cleaning device. [Explanation of symbols]

[0104] 1. Livestock barn cleaning equipment 2. Livestock barn 3 Water supply device 4 Feeding device 5. Windows 6. Lighting 7 Fixed wireless equipment 8. Travel Route 10 Livestock barn cleaning system 11 Main unit 12 Control device 13 Arm 14 wheels 15 Cleaning materials 16. Storage member 17 Mobile radio equipment 101 Control section 102 Storage Department 103 RAM 104 Communications Department 105 Wheel drive unit 106 Arm drive unit 107 Imaging unit 108 Sensor unit

Claims

1. A livestock house cleaning device equipped with replaceable cleaning members.

2. 2. The livestock house cleaning apparatus according to claim 1, wherein the cleaning member is a member for cleaning with a liquid, a member for cleaning with a gas, and / or a member for cleaning with electromagnetic waves.

3. The livestock house cleaning apparatus according to claim 1 or 2, further comprising an arm portion capable of holding the cleaning member.

4. The livestock house cleaning apparatus according to claim 1 or 2, further comprising a storage member for storing a liquid and / or a gas for cleaning.

5. The livestock house cleaning apparatus according to claim 1 or 2, which is capable of moving inside the livestock house according to a predetermined movement path and / or an operation input.

6. The livestock house cleaning apparatus according to claim 1 or 2, wherein the livestock house cleaning apparatus is capable of cleaning the livestock house using the cleaning member in accordance with a predetermined cleaning program and / or operational input.

7. A livestock house cleaning method, comprising cleaning a livestock house using the livestock house cleaning apparatus according to claim 1 or 2.

8. A livestock house cleaning system comprising the livestock house cleaning apparatus according to claim 1 or 2, a mobile wireless device provided in the livestock house cleaning apparatus, and a plurality of fixed wireless devices provided in the livestock house, distance calculation means for calculating a distance between each of the plurality of fixed wireless devices and the mobile wireless device based on a propagation time of information or a signal between each of the plurality of fixed wireless devices and the mobile wireless device; a location determination means for determining the location of the mobile wireless device based on the calculated distances between each of the plurality of fixed wireless devices and the mobile wireless device; a movement control means for controlling the livestock house cleaning device to move along a predetermined movement path based on the identified position; Equipped with Livestock barn cleaning system.

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