Abstract
Rising cost pressure and growing farm sizes in dairy farming with constant or even declining working capacity require new robotic solutions in this field. A logical approach is to automate the cleaning due to the high manual workload at this task. Therefore, a cleaning robot is being developed which removes liquid manure from the running surfaces and maintains the cubicles. The cubicles are cleaned of liquid manure with a brush and maintained by the help of a conveyor belt with bedding. The navigation of the robot is presented which is based on a 2.5-D SLAM and localization with two 2-D lidars. The focus is however on the sequential control of this cleaning task which is solved by using semantic maps, work routes, an active collision avoidance strategy and a brush force control. This functioning procedure is shown with experiments in a artificial stall and in a real stall barn.
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Acknowledgements
The project was supported by funds of the German Government‘s Special Purpose Fund held at Landwirtschaftliche Rentenbank.
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Stasewitsch, I., Schattenberg, J., Frerichs, L. (2020). Cleaning Robot for Free Stall Dairy Barns: Sequential Control for Cleaning and Littering of Cubicles. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1092. Springer, Cham. https://doi.org/10.1007/978-3-030-35990-4_10
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DOI: https://doi.org/10.1007/978-3-030-35990-4_10
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