Today, the application of technology to agriculture has become popular, and there are many applications for high-tech agriculture, from IoT systems to monitor the environment to agricultural robots. In this paper, the authors share the application of robots and computer vision in monitoring and serving production in cow farms. We build a group of moving robots to observe the living environment status of livestock, count the amount, divide the feed, and regulate the corresponding mode; this replaces human resources limited by time, response and continuous operation 24/7, reducing the burden of observation from fixed cameras when hidden corners cannot be observed. For the robot to move in the farm environment, the authors propose combining Lidar, a 3D camera, IMU for building digital maps and Utra-WideBand to update positioning values. The combination and integration of sensors on different map layers will evaluate the positioning efficiency.