Device for cleaning a stable floor

Abstract

Device (1) for cleaning a stable floor, comprising a movable vehicle (2), comprising a drive system for driving and controlling the vehicle, a chassis, and a body (7). Attached to the vehicle are means (3) for removing manure from the stable floor to clean the stable floor. The device further comprises a container (8) having an interior volume for containing a cleaning liquid therein, and liquid dispensing means (14) which are in fluid communication with the interior volume of the container and configured to dispense liquid from the container onto the stable floor. The body comprises a double-walled shell (8) substantially enclosing the drive system. The double-walled shell comprises an inner wall (8a) facing the enclosed drive system, and an outer wall (8b) spaced apart from the inner wall, constituting at least part of an outer surface of the body. The double-walled shell constitutes the container, wherein a space between the inner wall and the outer wall defines the interior volume of the container

Description

[0001] Device for cleaning a stable floor

[0002] The present invention relates to a device for cleaning a stable floor. The device comprises a movable vehicle, comprising a drive system for driving and controlling the vehicle, a chassis, and a body. Attached to the vehicle are means for removing manure from the stable floor to clean the stable floor. The device further comprises a container having an interior volume for containing a cleaning liquid therein, and liquid dispensing means which are in fluid communication with the interior volume of the container and configured to dispense liquid from the container onto the stable floor.

[0003] Cleaning stable floors is an essential aspect of maintaining a healthy and comfortable environment for livestock. Several devices and methods are commonly used for this purpose, each with its own advantages and considerations. One type of device can be categorized as automatic bam cleaners. Automatic bam cleaners are mechanical devices designed for automated cleaning of bams, in particular floors thereof. Specifically, these systems have conveyors or scrapers that automatically remove waste, such as manure from cattle.

[0004] Automatic bam cleaners typically have a high cleaning efficiency, save a significant amount of labor, and provide consistent cleaning. To further improve cleaning, some automatic bam cleaners are equipped with a liquid spray system for spraying cleaning liquid, such as water, on the bam floor before or after removal of the manure from the floor. Thereto, the cleaner is provided with a tank for cleaning liquid and a nozzle for spraying the liquid therefrom. Although the spray system as such provides for improved cleaning efficiency locally, the maneuverability of the vehicle is reduced by such system due to e.g. the addition of the tank, i.e. a bulky and heavy element, to the vehicle. In practice, the extra cleaning efficiency obtained by the liquid spray system appears to be at the expense of the usability of the cleaner.

[0005] It is an object of the invention to alleviate the above problems at least in part while maintaining a high cleaning efficiency.

[0006] Thereto, the present invention provides a device for cleaning a stable according to the preamble, characterized in that the body comprises a double-walled shell substantially enclosing the drive system, the double-walled shell comprising an inner wall facing the enclosed drive system, and an outer wall, spaced apart from the inner wall, constituting at least part of an outer surface of the body, wherein the double-walled shell constitutes the container, wherein a space between the inner wall and the outer wall defines the interior volume of the container. In conventional automatic bam cleaners, the tank for the cleaning liquid is typically provided adjacent to the drive and control components of the vehicle. The body is subsequently configured to cover all these components, so that typically unused space is present between the drive and control components and the cover. This results in an increase in the size of the device. This may be kept under control by limiting the size of the tank. However, this reduces the surface area of the floor that can be treated with one tank fdl. By embodying the body as a double-walled shell which forms the container, the space which is left unused otherwise is completely now used by the container for the cleaning liquid. As a result, the device can be more compact than conventional automatic bam cleaners. At the same time, the volume of the container can be larger. In addition, since the double-walled shell substantially encloses the drive system, the weight distribution on of the vehicle does not change as the container empties. In contrast, having the tank next to the drive system, for instance at the back of the vehicle, will cause the balance to shift forward as the tank empties. Both the decrease in size and the constant weight distribution contribute positively to the maneuverability of the device.

[0007] In a preferred embodiment of the device according to the present invention, an outwardly facing surface of the outer wall is provided with rounded comers and / or edges. Such rounded comers and / or edges have the advantage that any collision between the device and the livestock does not wound the livestock.

[0008] In a preferred embodiment, an inwardly facing surface of the inner wall is provided with right-angled comers and / or edges. An advantage of right-angled comers and / or edges is that it allows maximizing the volume of the container. Typically, such right-angled comers and / or edges match the structure of the drive system, so that the container can be fitted close to this stmcture. An embodiment having both rounded comers and / or edges on the outside and right-angled comers and / or edges on the inside, allows for maximizing the capacity of the container while being animal friendly.

[0009] In a preferred embodiment, one or more through holes are provided in the double-walled shell, each of which extends through the shell from the inner wall to the outer wall and has an enclosing wall connecting the inner wall to the outer wall along the entire circumference of the enclosing wall.

[0010] In a preferred embodiment, the one or more through holes comprise a first and / or a second through hole arranged at a front side and / or a rear side of the vehicle, respectively, as seen in a main moving direction of the vehicle. By adding through holes in the shell, space is created for housing buttons and spray nozzles that need to be on the outside of the robot. At the same time, these through holes form an accommodation for said buttons and nozzles which protects them from being damaged by animals or getting covered in manure. Also, this protects the animals that surround the robots in the bam, as the slightest cut or scrape caused by any protruding portion on the device can easily turn into an infection because of the dirty environment. In addition to or alternative to buttons and spray nozzles, the through holes can also be used to house cameras, sensors or measuring equipment.

[0011] In a preferred embodiment, the dispensing means comprise a first and / or a second outlet arranged in the first and / or second through hole, respectively. Preferably, the first and / or a second outlet are fully accommodated by their respective through-hole, such that no portion of the respective outlets protrude from the body of the vehicle. In this manner, it is avoided that livestock animals get wounded by the device as a consequence of a collision between the device and the livestock animals.

[0012] In a preferred embodiment, the first and / or second outlet comprise a spraying nozzle for spraying the liquid from the onto the stable floor.

[0013] In a preferred embodiment, the means for removing manure are arranged at a front side of the vehicle, as seen in a main moving direction of the vehicle. In combination with the spraying outlet / nozzle at the front of the vehicle, this allows to dilute and / or mix the manure on the floor with the cleaning liquid before the means for removing manure act on said manure on the floor.

[0014] In a preferred embodiment, the device further comprises a liquid inlet for supplying liquid to the container therethrough, the inlet comprising a liquid inlet connector for connecting the inlet to a liquid filling station. Through liquid inlet connector, the container of the device can be refilled with cleaning liquid, such as water.

[0015] In a preferred embodiment, a recess is provided in the outside of the body, the recess being configured to fully accommodate the liquid inlet connector therein. As a result, no portion of the liquid inlet connector protrudes from the body of the vehicle. In this manner, it is avoided that livestock animals get wounded by the device as a consequence of a collision between the device and the livestock animals. This is very important, as the slightest cut or scrape can easily turn into an infection because of the dirty environment.

[0016] In a preferred embodiment, the recess is formed by an inwardly extending portion of the outer wall of the double -walled shell.

[0017] In a preferred embodiment, the device further comprises an electrical power connector for connecting an output of an electrical charging station thereto for charging a battery of the drive system of the vehicle.

[0018] In a preferred embodiment, a recess is provided in the outside of the body, the recess being configured to fully accommodate the electrical power connector therein. As a result, no portion of the electrical power connector protrudes from the body of the vehicle. In this manner, it is avoided that livestock animals get wounded by the device as a consequence of a collision between the device and the livestock animals. This is very important, as the slightest cut or scrape can easily turn into an infection because of the dirty environment.

[0019] In a preferred embodiment, the recess for accommodating the electrical power connector therein is formed by an inwardly extending portion of the outer wall of the double-walled shell.

[0020] In a preferred embodiment, more than 75% of the body, preferably more than 85% of the body, consists of the double-walled shell.

[0021] In a preferred embodiment, the body encloses the drive system and the support system. By enclosing both the drive system and the chassis, the body protects the animals in the bam from any sharp portions of the drive system and the chassis that may protrude otherwise. In other words, the body substantially covers the entire vehicle. Combining this embodiment with rounded edges and / or comers provides for an especially animal -friendly vehicle.

[0022] In a preferred embodiment, the body, including the double-walled shell, is substantially made of plastic. Steel edges can injure the animals, and the slightest cut or scrape can easily turn into an infection because of the dirty environment. Using plastic as a body material protects the animals that surround the robots in the bam.

[0023] In a preferred embodiment, the vehicle is an autonomous vehicle configured to operate itself.

[0024] In a preferred embodiment, the means for removing manure from the stable floor comprise a floor scraping device. Alternatively, the means for removing manure may be a manure pick-up device, which picks up manure from the floor, for instance mechanically and / or using suction means.

[0025] Additional features and advantages will be set forth in the detailed description which follows, and in part will be readily apparent to those skilled in the art from the description or recognized by practicing the embodiments as described in the written description and claims hereof, as well as the appended drawings. It is to be understood that both the foregoing general description and the following detailed description are merely exemplary and are intended to provide an overview or framework to understand the nature and character of the claims. The accompanying drawings are included to provide a further understanding and are incorporated in and constitute a part of this specification, wherein:

[0026] Figure 1 is a perspective view of a preferred embodiment of the device according to the present invention;

[0027] Figure 2 is a rear view of the embodiment of the device shown in figure 1;

[0028] Figure 3 is a perspective view from a bottom and front side of the body of the device shown in figures 1 and 2; figure 4 is a perspective view from a top and front side of the body shown in figure 3; figure 5 is a side view of the body shown in figure 4; figure 6 is a bottom view of the body shown in figure 4; figure 7 is a cross-sectional front view of the body along the dashed line shown in figure 5; figure 8 is a cross-sectional side view of the body along the dashed line shown in figure 6;

[0029] Figure 1 shows a cleaning robot 1 for cleaning a floor 100 of a bam for livestock. The robot 1 includes an autonomous vehicle 2 which is provided with a floor scraping device 3 at its front. The vehicle 2 rests on two wheels 4, 5 and on the floor scraping device 3. The drive and control components (not shown) for moving and steering the vehicle 2, comprising a motor, batteries, and a steering system are fitted in a frame 6 which is housed in a body 7. The body 7 comprises a doublewalled shell structure 8 which constitutes a tank for cleaning liquid, such as water, therein. As best seen in figure 3, the double-walled shell structure 8 fully encloses the frame 6 for the drive and control components. The double-walled shell structure or tank 8 is configured such that the inner wall 8a thereof fits tightly against the frame 6. This tight fit allows fixing the body 7 around the frame 6, on the one hand, and maximizing the capacity of the tank 8, on the other hand. The outer wall 8b of the double-walled shell structure 8 forms the outer surface of the body 7. As visible in each of the figures, the outer surface of the body 7, formed by the outer wall 8b of the double-walled shell structure 8, is provided with rounded edges 10 and comers 11. Moreover, the body 7 is made of plastic.

[0030] It is advantageous to use a body 7 which has round edges 10 and comers 11. From a practical point of view, plastic lends itself well to realizing such a body 7. However, using rounded edges 10 and comers 11 typically results in unused space, as most drive and control components and frames inside the robot 1 have right-angled edges. As a result, these components and frames cannot be arranged in the edges 10 and comers 11 of the body 7. By converting the body 7 into a water tank 8, the outside of the robot 1 can be provided with the required rounded edges 10 and comers 11, and the inside can be fitted tightly around the robot’s frame 6 and components, while not wasting any space. The space between the frame 6 and the outer surface 9 of the body 7 can namely be filled completely with water, as the body 7 forms the water tank 8. By transforming the body 7 into the water tank 8, the robot 1 can be smaller in size, the water capacity of the tank 8 can be increased and the weight of the robot 1 can be reduced, because the frame 6 inside the robot 1, which carries the tank 8 conventionally, can be smaller. Moreover, since the tank 8 is all around the robot 1, the spatial weight distribution of the robot 1 remains constant irrespective of the water level in the tank 8. The robot 1 is therefore always in balance. This is an improvement to conventional robots, which typically carry the tank at their rear side, as a result of which the balance of the robot shifts forwards as the tank empties. The cross-sectional front and side view as depicted in figures 7 and 8, respectively, show the internal space 28 of the tank 8 defined by the inner wall 8a and the outer wall 8b of the double-walled shell structure or tank 8 of the body 7.

[0031] Two through holes 12, 13 are arranged in the double-walled shell stmcture 8 of the body 7. One through hole 12 is arranged at the front of the robot 1 and another through hole 13 is arranged at the rear of the robot 1. As seen in figures 1 and 2, each of the through holes 12, 13 accommodate a spray nozzle 14. The through hole 13 at the rear further accommodates a camera 15 and a lidar sensor 16 as feedback means for the cleaning performance and position of the robot 1, respectively. On the right side at the front of the body, a liquid inlet connector 17 is arranged for connecting a liquid inlet for supplying liquid to the tank 8 to a liquid filling station 18. As shown in figure 1, the liquid inlet connector 17 is arranged in a recess 19 in the body 7 of the robot 1. As a result, no portion of the liquid inlet connector 17 protrudes from the body 7 of the robot 1. In this manner, it is avoided that livestock animals get wounded by the robot 1 as a consequence of a collision between the robot 1 and the livestock animals. For practical reasons, a further recess 20 is provided in the body 7 on the left side at the front. This recess 20 may also be used to accommodate the liquid inlet connector 17 or an additional liquid inlet connector (not shown). On each of the left and right sides of the body 7, electrical power connectors 21, 22 are arranged in recesses 23, 24 in the body 7. These electrical power connectors 21, 22 are configured to connect an output of an electrical charging station 25 thereto for charging a battery of the drive system of the robot 1. For reliable and easy connection, the electrical power connectors 21, 22 comprise a protruding guiding member 26 which mate with a recess 27 in the electrical charging station 25.

[0032] The drawings are illustrative of selected aspects of the present disclosure, and together with the description serve to explain principles and operation of methods, products, and systems embraced by the present disclosure. It will be apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit or scope of the invention. Since modifications combinations, sub -combinations and variations of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and their equivalents.

Claims

Claims1. Device for cleaning a stable floor, comprising: a movable vehicle, comprising a drive system for driving and controlling the vehicle, a chassis, and a body; attached to the vehicle, means for removing manure from the stable floor to clean the stable floor; a container having an interior volume for containing a cleaning liquid therein; and liquid dispensing means which are in fluid communication with the interior volume of the container and configured to dispense liquid from the container onto the stable floor, characterized in that the body comprises a double-walled shell substantially enclosing the drive system, the double-walled shell comprising an inner wall facing the enclosed drive system, and an outer wall, spaced apart from the inner wall, constituting at least part of an outer surface of the body, wherein the double-walled shell constitutes the container, wherein a space between the inner wall and the outer wall defines the interior volume of the container.

2. Device according to claim 1, wherein an outwardly facing surface of the outer wall is provided with rounded comers and / or edges.

3. Device according to claim 1 or 2, wherein an inwardly facing surface of the inner wall is provided with right-angled comers and / or edges.

4. Device according to any one of claims 1-3, wherein one or more through holes are provided in the double-walled shell, each of which extends through the shell from the inner wall to the outer wall and has an enclosing wall connecting the inner wall to the outer wall along the entire circumference of the enclosing wall.

5. Device according to claim 4, wherein the one or more through holes comprise a first and / or a second through hole arranged at a front side and / or a rear side of the vehicle, respectively, as seen in a main moving direction of the vehicle.

6. Device according to claim 5, wherein the dispensing means comprise a first and / or a second outlet arranged in the first and / or second through hole, respectively.

7. Device according to claim 6, wherein the first and / or second outlet comprise a spraying nozzle for spraying the liquid from the onto the stable floor.

8. Device according to any one of the preceding claims, wherein the means for removing manure are arranged at a front side of the vehicle, as seen in a main moving direction of the vehicle.

9. Device according to any one of the preceding claims, further comprising a liquid inlet for supplying liquid to the container therethrough, the inlet comprising a liquid inlet connector for connecting the inlet to a liquid filling station.

10. Device according to claim 9, wherein a recess is provided in the outside of the body, the recess being configured to fully accommodate the liquid inlet connector therein.

11. Device according to claim 10, wherein the recess is formed by an inwardly extending portion of the outer wall of the double -walled shell.

12. Device according to any one of the preceding claims, further comprising an electrical power connector for connecting an output of an electrical charging station thereto for charging a battery of the drive system of the vehicle.

13. Device according to claim 12, wherein a recess is provided in the outside of the body, the recess being configured to fully accommodate the electrical power connector therein.

14. Device according to claim 13, wherein the recess for accommodating the electrical power connector therein is formed by an inwardly extending portion of the outer wall of the double walled shell.

15. Device according to any one of the preceding claims, wherein more than 75% of the body, preferably more than 85% of the body, consists of the double-walled shell.

16. Device according to any one of the preceding claims, wherein the body encloses the drive system and the chassis.

17. Device according to any one of the preceding claims, wherein the body, including the double - walled shell, is substantially made of plastic.

18. Device according to any one of the preceding claims, wherein the vehicle is an autonomous vehicle configured to operate itself.

19. Device according to any one of the preceding claims, wherein the means for removing manure from the stable floor comprise a floor scraping device.

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