Abstract: In order to solve the problems of high labor intensity, poor working environment and low work efficiency in the cleaning operation in limited space in animal husbandry, the cleaning of blister fecal ditches in pig farms was selected as the research object, and a cleaning robot that can realize automatic operation was designed. Combined with the characteristics of the cleaning object, the overall scheme of the robot was designed. The cleaning robot drove the high-pressure water nozzle to move at the bottom of the manure ditch, and took away the feces by the flushing effect of high-pressure water. The body of the cleaning robot adopted a single caterpillar type mobile chassis to realize the walking of the cleaning robot and the bearing of other systems. The PTZ system was used to control the position of high-pressure water strike. The ARM chip STM32F103 was used as the core controller of the control system, and each action function of the cleaning robot was realized by controlling the servo motor, infrared obstacle avoidance sensor, steering gear, ultrasonic distance sensor, etc. The automatic control process of the cleaning robot was designed, which could complete the automatic operation of the whole process. Compared with manual cleaning, the cleaning effect of the cleaning robot was verified in the farrowing barn of Laibin test site in Guangxi Zhuang Autonomous Region. The results showed that the designed manure ditch cleaning robot could effectively realize the automatic cleaning of deep-pit manure ditch. Compared with manual cleaning, the cleaning time of a manure ditch by the cleaning robot was reduced from 23′10 ″to 15′49″（P＜0.01）, which significantly improved the cleaning efficiency. Water consumption was significantly reduced from 478 L to 325 L（P＜0.01）. The cleaning rate was greatly increased from 98.58% to 99.36%（P＜0.01）. The results indicated that the cleaning robot could meet the requirements of manure ditch cleaning, and provided an effective solution for the cleaning operation in limited space in animal husbandry.