畜牧养殖作业机器人关键技术与典型应用综述

Review of Research on Key Technologies and Typical Applications of Livestock Farming Robots

摘要:

畜牧养殖作业机器人是智慧畜牧业的重要技术载体,在缓解劳动力短缺、提升生产效率、保障生物安全和改善动物福利等方面具有重要意义。 随着规模化、智能化养殖持续推进,相关装备研究已由单一环节机械化辅助逐步拓展至复杂养殖场景下的感知、作业与协同应用。 由于养殖场景中作业对象多样、状态动态变化,且圈舍环境干扰显著,其在感知、导航、执行、决策与协同控制等方面仍面临诸多挑战。 本文系统综述了多模态感知与场景理解、 移动平台与导航、柔顺执行及端-边-云协同等情况,梳理了其在精准饲喂、产出采集、健康与行为监测、繁育辅助及畜舍清洁等典型场景中的应用发展,归纳了当前面临的主要瓶颈,并指出未来发展的关键在于突破高干扰鲁棒感知、动态场景自主决策及人机畜低应激交互等核心技术。

Abstract:

Livestock farming operation robots are important technological carriers for smart livestock farming and play significant roles in alleviating labor shortages, improving production efficiency, enhancing biosecurity, and improving animal welfare. With the continued advancement of large-scale and intelligent livestock production, related equipment and research have gradually evolved from single-task mechanized assistance to perception, task execution, and collaborative applications in complex farming scenarios. Owing to the diversity of task objects, dynamic changes in animal states, and significant disturbances in barn environments, livestock farming operation robots still face substantial challenges in perception, navigation, execution, decision-making, and coordinated control. It systematically summarized recent advances in key technologies, including multimodal perception and scene understanding, mobile platforms and navigation, compliant execution, and device-edge-cloud collaboration. It also reviewed their application development in typical scenarios such as precision feeding, product harvesting and collection, health and behavior monitoring, reproductive assistance, and barn cleaning, and further identified the main bottlenecks, including insufficient perception robustness, difficulties in live-animal modeling and compliant control, limited real-world generalization, insufficient multi-device collaboration, inadequate consideration of animal welfare constraints, and limited engineering applicability and scalability. Overall, the key to future development lies in overcoming technological bottlenecks in robust perception under high interference, autonomous decision-making in dynamic environments, and low-stress interactions among humans, machines, and animals.