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self-cleaning litter box?
(lemmy.d.thewooskeys.com)
Home Assistant is open source home automation that puts local control and privacy first. Powered by a worldwide community of tinkerers and DIY enthusiasts. Perfect to run on a Raspberry Pi or a local server. Available for free at home-assistant.io
Others have already mentioned the litter robot, but one automation you might find handy is having HA trigger a robot vacuum to go vacuum the room where the litter boxes are, after it detects a cat using it. It'd help keep litter off the floor if your cats like kicking it out of the boxes.
Also if you're having to clean litter boxes multiple times a day, how many do you have? Iirc the general rule is one litter box for each cat plus one extra, so for 4 cats you should ideally have 5 litter boxes.