Combining a Novel Computer Vision Sensor with a Cleaning Robot to Achieve Autonomous Pig House Cleaning

Nils Axel Andersen, Ian David Braithwaite, Mogens Blanke, Torben Sørensen

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Abstract

Cleaning of livestock buildings is the single most health-threatening task in the agricultural industry and a transition to robot-based cleaning would be instrumental to improving working conditions for employees. Present cleaning robots fall short on cleanness quality, as they cannot perform condition based cleaning. This paper describes how a novel sensor, developed for the purpose, and algorithms for classification and learning are combined with a commercial robot to obtain an autonomous system which meets the necessary quality attributes. These include features to make selective cleaning where dirty areas are detected, that operator assistance is called only when cleanness hypothesis cannot be made with confidence. The paper describes the design of the system where learning from experience maps and operator instructions are combined to obtain a smart and autonomous cleaning robot.
Original languageEnglish
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and European Control Conference
PublisherIEEE
Publication date2005
Pages8331-8336
ISBN (Print)0-7803-9567-0
DOIs
Publication statusPublished - 2005
Event44'th IEEE Conference on Decision and Control, and European Control Conference - Seville, Spain
Duration: 1 Jan 2005 → …

Conference

Conference44'th IEEE Conference on Decision and Control, and European Control Conference
CitySeville, Spain
Period01/01/2005 → …

Bibliographical note

Copyright: 2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE

Cite this

Andersen, N. A., Braithwaite, I. D., Blanke, M., & Sørensen, T. (2005). Combining a Novel Computer Vision Sensor with a Cleaning Robot to Achieve Autonomous Pig House Cleaning. In Proceedings of the 44th IEEE Conference on Decision and Control, and European Control Conference (pp. 8331-8336). IEEE. https://doi.org/10.1109/CDC.2005.1583511