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

doi:10.1109/CDC.2005.1583511

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

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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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 language	English
Title of host publication	Proceedings of the 44th IEEE Conference on Decision and Control, and European Control Conference
Publisher	IEEE
Publication date	2005
Pages	8331-8336
ISBN (Print)	0-7803-9567-0
DOIs	https://doi.org/10.1109/CDC.2005.1583511
Publication status	Published - 2005
Event	44th IEEE Conference on Decision and Control - Seville, Spain Duration: 15 Dec 2005 → 15 Dec 2005 Conference number: 44 https://ieeexplore.ieee.org/xpl/conhome/10559/proceeding

Conference

Conference	44th IEEE Conference on Decision and Control
Number	44
Country/Territory	Spain
City	Seville
Period	15/12/2005 → 15/12/2005
Internet address	https://ieeexplore.ieee.org/xpl/conhome/10559/proceeding

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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

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@inproceedings{f3264f7bee634ed6a9c9e4684113ff26,

title = "Combining a Novel Computer Vision Sensor with a Cleaning Robot to Achieve Autonomous Pig House Cleaning",

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.",

author = "Andersen, {Nils Axel} and Braithwaite, {Ian David} and Mogens Blanke and Torben S{\o}rensen",

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; 44th IEEE Conference on Decision and Control, CDC 2005 ; Conference date: 15-12-2005 Through 15-12-2005",

year = "2005",

doi = "10.1109/CDC.2005.1583511",

language = "English",

isbn = "0-7803-9567-0",

pages = "8331--8336",

booktitle = "Proceedings of the 44th IEEE Conference on Decision and Control, and European Control Conference",

publisher = "IEEE",

address = "United States",

url = "https://ieeexplore.ieee.org/xpl/conhome/10559/proceeding",

}

Andersen, NA, Braithwaite, ID, 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. IEEE, pp. 8331-8336, 44th IEEE Conference on Decision and Control, Seville, Spain, 15/12/2005. https://doi.org/10.1109/CDC.2005.1583511

Combining a Novel Computer Vision Sensor with a Cleaning Robot to Achieve Autonomous Pig House Cleaning. / Andersen, Nils Axel; Braithwaite, Ian David; Blanke, Mogens et al.
Proceedings of the 44th IEEE Conference on Decision and Control, and European Control Conference. IEEE, 2005. p. 8331-8336.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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N2 - 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.

AB - 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.

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

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