A method and system for positioning an indoor autonomous mobile robot is disclosed in this application, which includes: indoor layout of moving paths and indoor relative position information of the moving path are obtained by a vision sensor; visual positioning is performed by a visual locator on indoor image data collected by the visual sensor to obtain the first position information; and second position information of a UWB location tag is obtained and solved by an UWB locator; the first position information and the second position information are fused by an adaptive Kalman filter, to obtain final positioning information of the autonomous mobile robot. After fusion, the UWB locator can correct the accumulated error caused by visual positioning, and at the same time, visual positioning can smooth measured data of the UWB locator to make up for deficiencies.

A pet litter tray includes a main housing, a pair of oppositely disposed side flaps, and a pair of oppositely disposed end flaps. The main compartment has an interior space and an open top or top opening. The main compartment has a generally planar, rectangular floor, two oppositely disposed side walls, and two oppositely disposed end walls. Each end flap has an elongated tab mounting slot. Each side flap has a first portion extending from the side wall of the main compartment along the longitudinal first fold, a second portion extending from the first portion along a second fold, a third portion extending from the second portion along a longitudinal third fold, and a distal, fourth portion extending from the third portion along a longitudinal fourth fold. The fourth portion has two oppositely disposed end tabs and a central handle portion having a handle hole therethrough.

An animal shed system includes an animal shed having an animal shed floor with a first and a second surface spaced apart, such that the floor has a thickness different from zero, and multiple flow holes extending from the first to the second surface; a reservoir situated under the animal shed floor, wherein the flow holes open up to the reservoir, and the flow holes allow a fluid flow from the animal shed to the reservoir; a floor opening in the animal shed floor to allow manure to be dumped in the reservoir; an air extraction device for extracting air underneath the floor, out of the reservoir; and a device extending from the floor opening into the reservoir, wherein the device is configured to prevent an airflow from the animal shed to the reservoir through the floor opening when in use.

A pet waste disposal apparatus and method provides a convenient, safe, and odor free way of disposing of pet waste. The pet waste disposal apparatus includes an upright pipe interconnected with a sewer drain line. A hose coupling interconnects with a water source to rinse the pet waste into the sewer drain line. A lid is movably coupled to a top end of the upright pipe to contain odors.

A pet waste disposal apparatus and method provides a convenient, safe, and odor free way of disposing of pet waste. The pet waste disposal apparatus includes an upright pipe interconnected with a sewer drain line. A hose coupling interconnects with a water source to rinse the pet waste into the sewer drain line. A lid is movably coupled to a top end of the upright pipe to contain odors.

A litter evacuation door system includes a door opening defined through a side wall portion of a litter tray, a sliding door guide structure surrounding the door opening, a door slidably engaged in the sliding door guide structure, the door is user selectively movable between a closed and open position, a bag engaging collar extending around an exterior side edge of the door opening and configured for engaging the opening edge of a litter collecting bag, the bag engaging collar further defining a bag collar engaging groove for slidably receiving therein the bag collar plate of a disposable litter collecting bag.

An animal toilet includes a body portion, and a partition portion. The body portion has a bottom face part and a side face part, and is in a box shape. The partition portion has a through hole allowing urine to pass therethrough, and divides the inside of the body portion vertically. The opening area of the through hole is variable.

An animal toilet includes a body portion, and a partition portion. The body portion has a bottom face part and a side face part, and is in a box shape. The partition portion has a through hole allowing urine to pass therethrough, and divides the inside of the body portion vertically. The opening area of the through hole is variable.

A litter vessel assembly includes a vessel including a bottom for reception of broken down litter. The bottom is positioned over a confined volume and is configured with slots and a hatch. The slots are configured to disable unbroken down litter from falling downwardly therethrough into the confined volume from the vessel and enable broken down litter to fall downwardly therethrough into the confined volume from the vessel. The hatch is adjustable between a closed position closing a hatchway to the confined volume and an open position opening the hatchway to the confined volume.

A cat litter box system includes a sifter pan having a sifter pan floor with a plurality of thru holes therethrough. Sifter pan sidewalls surround and extend upwards from a perimeter of the sifter pan floor. A sifter pan rim is disposed on upper distal ends of the sifter pan sidewalls. The sifter pan rim extends laterally from the sifter pan sidewalls. A shield section includes shield section sidewalls having a lower rim portion configured to removably mount on an upper surface of the sifter pan rim. A front entryway is disposed in the shield section sidewalls. A plurality of removable sliding panels are stackable on top of one another within the front entryway. The sliding panels form an overspray barrier within the front entryway. The overspray barrier has an adjustable height based on the number of sliding panels stacked within the front entryway.