CN103995534A - Mobile path control system and control method for patrolling robot - Google Patents
Mobile path control system and control method for patrolling robot Download PDFInfo
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- CN103995534A CN103995534A CN201410203143.2A CN201410203143A CN103995534A CN 103995534 A CN103995534 A CN 103995534A CN 201410203143 A CN201410203143 A CN 201410203143A CN 103995534 A CN103995534 A CN 103995534A
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Abstract
The invention discloses a mobile path control system and control method for a patrolling robot. The mobile path control system comprises a first distance measuring unit, a second distance measuring unit and a control unit used for controlling the first distance measuring unit and the second distance measuring unit, carrying out the operation on a received first set of distance signals and a received second set of distance signals and controlling steering or straight walking of the robot. The mobile path of the patrolling robot is controlled through the system, the cost for paving rails is saved, the construction difficulty of the mobile path control method of the patrolling robot is lowered, the environmental states of a livestock farm and the living state of livestock are monitored in real time, patrolling working efficiency of the farm livestock is improved, the safety and reliability of the patrolling robot and the environment are improved, and monitoring cost of livestock breeding is reduced.
Description
Technical field
The present invention relates to robot control field, particularly relate to a kind of mobile control system and control method of crusing robot.
Background technology
In the dietary requirements meaty texture of China, with pork, poultry proportion maximum, beef, mutton, other meat accountings reduce successively.Along with the reach of science and the modern promotion of cultivation, realize " people's management equipment-equipment is supported fowl poultry-fowl poultry ' supporting ' people ", promoting the cultivation of fowl domestic animals is inexorable trend to standardization, scale, automation direction development.
At present, also do not have the report of plant's crusing robot to occur, but the application example that existing intelligent inspection robot is patrolled and examined at electric power tunnel.The motion track of crusing robot in this electric power tunnel in tunnel realized accurate location by Intelligent positioning module.It is basis that Intelligent positioning module adopts hi-Fix module and DC low-voltage Intelligent servo motor, pre-buried RFID (radio-frequency (RF) identification) non-contact card in aluminum alloy rail, hypervelocity near field RFID read write line is installed in robot, by the information interaction between RFID non-contact card and the accurate locating read-write device of RFID, can identify cable splice, emphasis is patrolled and examined the positions such as position, track switch, wellhead traversing point, turning point, realizes the accurate location that each patrols and examines position.This by laying, track is difficult with the motion track control method construction that the navigation of RFID label is set, algorithm is complicated, is not suitable for the relatively simple occasion of environmental baseline.
Summary of the invention
The mobile alignment control system and the method that the object of this invention is to provide a kind of crusing robot, this system and method is without using RFID, simplify robot path planning's control flow, improved the safety and reliability of crusing robot, reduced monitoring cost simultaneously.
For achieving the above object, the mobile alignment control system that the invention provides a kind of crusing robot, comprising: the first range cells, at least comprises two distance measuring sensors that homonymy arranges, for detection of first group of distance signal, and first group of distance signal is passed to control module;
The second range cells, at least comprises two distance measuring sensors that homonymy arranges, and for detection of second group of distance signal, and second group of distance signal is passed to control module;
Control module, be used for setting the first predetermined value and the second predetermined value, control the first range cells and the second range cells, receive first group of distance signal and second group of distance signal are carried out to calculation process, if at least one distance signal equals the first predetermined value in first group of distance signal, Robot first passage moves forward, if first group of distance signal is all greater than the first predetermined value or equal no signal, robot starts the second range cells, detect second group of distance signal, if second group of distance signal is all less than or equal to the second predetermined value, robot turns to, if at least one distance signal is greater than the second predetermined value in second group of distance signal, robot continues to detect first group of distance signal.
Preferably, in described the first range cells, in the both sides of robot, be respectively provided to few two distance measuring sensors; In described the second range cells, in the both sides of robot, be respectively provided to few two distance measuring sensors.
Preferably, described in described the first range cells, distance measuring sensor is radar range finding sensor, and the described distance measuring sensor in described the second range cells is infrared distance sensor.
Preferably, described the first predetermined value is for the mobile alignment of the described robot of setting is along the distance between first direction and the first mark; Described the second predetermined value is the distance between described Robot second direction and the second mark; Described first direction and described second direction are horizontal direction, and both angles are greater than 0 degree.
Preferably, described the first mark is the pouity dwelling place that poultry cultivation factory arranges, the peripheral wall that the second mark is pouity dwelling place.
Preferably, described the first pouity dwelling place arranges with described peripheral wall is vertical, and described first direction and described second direction angle are 90 degree.
The present invention also provides a kind of mobile alignment control method of crusing robot, for controlling the mobile alignment of crusing robot, comprises the following steps:
Step 1): set the first predetermined value and the second predetermined value;
Step 2): detect first group of distance signal, and first group of distance signal is passed to control module;
Step 3): compare first group of distance signal and the first predetermined value, if at least one distance signal equals the first predetermined value in first group of distance signal, Robot first passage moves forward, if first group of distance signal is all greater than the first predetermined value or equal no signal, proceeds to step 4);
Step 4): start the second range cells, detect second group of distance signal, if second group of distance signal is all less than or equal to the second predetermined value, robot turns to; If at least one distance signal is greater than the second predetermined value in second group of distance signal, proceed to step 3).
Preferably, described the first predetermined value is for the mobile alignment of the described robot of setting is along the distance between first direction and the first mark; Described the second predetermined value is the described Robot second direction of setting and the distance between the second mark; Described first direction and described second direction are horizontal direction, and both angles are greater than 0 degree.
Preferably, further comprising the steps of: to set the 3rd predetermined value, control after described robot moves the 3rd predetermined value and again turn to, along second channel, move forward.
The control system of a kind of crusing robot mobile alignment provided by the present invention, comprises range cells and control module.Unlike the prior art, range cells provided by the invention comprises the first range cells and the second range cells.And each range cells comprises the distance measuring sensor that at least two homonymies arrange, and when a distance measuring sensor in each range cells breaks down, another distance measuring sensor still can normally be worked.Meanwhile, inconsistent when two detected data of distance measuring sensor, can judge crusing robot and depart from predetermined paths, robot can send the signal of rectifying a deviation, and controls the driver element of crusing robot, realizes correction, and continues to advance.The first range cells is carried out the mobile alignment of control by detecting first group of distance signal, when robot moves to the public outer time delay of passage between the first mark completely, first group of distance signal that the first range cells detects is all greater than the first predetermined value or equal no signal, and control module starts the second range cells; The second range cells detects second group of distance signal, if second group of distance signal is all not more than the second predetermined value, confirms that robot has moved to the public extension of passage between the first mark completely, and now, control module control turns to.The first above-mentioned predetermined value can be the horizontal range of Robot first passage while advancing and on the first mark first direction, and the second predetermined value is that Robot first passage is when advance and the horizontal range of the second mark in second direction.Therefore, in crusing robot control system provided by the present invention, the cooperatively interacted control that turns to of robot of the first range cells and the second range cells, when the first range cells breaks down or detects while making mistakes, the second range cells can be checked out this mistake.Crusing robot can normally be worked under the control of two groups of range cells, and failure rate is low, improved the applicability of robot.And, by said system, control the mobile alignment of crusing robot, saved the expense of laying track, reduced the difficulty of construction of crusing robot mobile alignment control method, this robot application, in plant, can be realized to the Real-Time Monitoring of the survival condition of plant's ambient condition and fowl poultry, improved the work efficiency of patrolling and examining of plant, improve the safety and reliability of inspection machine human and environment, reduced the monitoring cost of livestock-raising simultaneously.
A kind of preferred embodiment in, in described the first range cells, in the both sides of robot, be respectively provided to few two distance measuring sensors; In described the second range cells, in the both sides of robot, be respectively provided to few two distance measuring sensors.Make patrolling and examining route and can realizing circulation bidirectional patrol mode of robot, every row pouity dwelling place is set so all in the scope of patrolling and examining, can guarantee not undetectedly, can avoid again many inspections, improve the efficiency of patrolling and examining of crusing robot.
In another preferred embodiment, the mobile alignment that described the first predetermined value is the described robot of setting is along the distance between first direction and the first mark; Described the second predetermined value is the distance between described Robot second direction and the second mark; Described first direction and described second direction are horizontal direction, and both angles are greater than 0 degree.By robot is set, two horizontal directions, the distance respectively and between two fixed signal things limits the mobile alignment of crusing robot, and crusing robot is turned in time in this turning.If robot carries out to patrol and examine with mark and bumps; meeting tamper-indicating Wu He robot; by controlling the mobile alignment of machine, guarantee that robot and mark keep can not bumping between certain distance and mark, improve reliability and the security of the work of patrolling and examining.
On the basis of mobile alignment control system that above-mentioned crusing robot is provided, the present invention also provides a kind of control method of the mobile alignment control system based on above-mentioned crusing robot; Because the mobile alignment control system of crusing robot has above-mentioned technique effect, the control method of the mobile alignment control system based on crusing robot also has corresponding technique effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of the mobile alignment control system of crusing robot provided by the present invention;
Fig. 2 is the mobile alignment figure of crusing robot provided by the present invention;
Fig. 3 is the process flow diagram of the mobile alignment control method of crusing robot provided by the present invention.
Embodiment
Core of the present invention is to provide a kind of mobile alignment control system for the robot that patrols and examines, improves the applicability of crusing robot, is conducive to improve and patrols and examines work efficiency, reduces routing inspection cost.
In order to make those skilled in the art person understand better the present invention program, below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail.
The mobile alignment control system of crusing robot provided by the present invention, comprises the first range cells, the second range cells and control module.Wherein, the first range cells 1, at least comprises two distance measuring sensors that homonymy arranges, and for detection of first group of distance signal, and first group of distance signal is passed to control module 3; The second range cells 2, at least comprises two distance measuring sensors that homonymy arranges, and for detection of second group of distance signal, and second group of distance signal is passed to control module 3; Control module 3, sets the first predetermined value and the second predetermined value, and by first group of distance signal and the first predetermined value comparison, its comparative result is as follows:
1, in first group of distance signal, at least one distance signal equals the first predetermined value, and Robot first passage moves forward.
2, first group of distance signal is all less than the first predetermined value, starts and keeps away barrier pattern, judged whether that barrier stops, if so, cut-through thing continues former route and moves forward; If not, the hypotelorism of robot and the first mark, robot, by projected route walking, starts correction pattern, makes robot get back to former route walking.
3, first group of distance signal is all greater than the first predetermined value, and possible robot has left the position that the first mark is corresponding, need to turn to, and now starts the second range cells, detects the distance between robot and the second mark, and whether examine machine needs to turn to; Or robot and the first mark hypertelorism, now still start correction pattern, make robot get back to former route walking.
4, first group of distance signal is all without useful signal, and possible robot has left the position that the first mark is corresponding, need to turn to, and now starts the second range cells, detects the distance between robot and the second mark, and whether examine machine needs to turn to; Or first group of distance signal all breaks down, and now needs to start fault detect pattern, and this pattern can be with reference to prior art.
Each range cells comprises the distance measuring sensor that at least two homonymies arrange, and when a distance measuring sensor in each range cells breaks down, another distance measuring sensor still can normally be worked.Meanwhile, inconsistent when two detected data of distance measuring sensor, can judge crusing robot and depart from predetermined paths, robot can send the signal of rectifying a deviation, and controls the driver element of crusing robot, realizes correction, and continues to advance.If first group of distance signal is all greater than the first predetermined value or equal no signal, robot starts the second range cells, detects second group of distance signal, if second group of distance signal is all less than or equal to the second predetermined value, robot turns to first direction.
The first above-mentioned predetermined value can be the horizontal range of Robot first passage while advancing and on the first mark first direction, the second predetermined value is that Robot first passage is when advance and the horizontal range of the second mark in second direction, first direction and second direction are horizontal direction, and both angles are greater than 0 degree.As in pouity dwelling place, (as shown in Figure 2) the first predetermined value is the horizontal range between robot 33 and the first mark pouity dwelling place 11, the second predetermined value is the distance between the second mark wall 44 of robot and passage extension, and first direction shown in figure and second direction angle are 90 degree.
Therefore, in crusing robot control system provided by the present invention, the cooperatively interacted control that turns to of robot of the first range cells 1 and the second range cells 2, when the first range cells 1 breaks down or detects while making mistakes, the second range cells 2 can be checked out this mistake.This crusing robot can normally be worked under the control of two groups of range cells, and failure rate is low, has improved the applicability of robot.This system architecture is simple, low to processor requirement, by control the mobile alignment of crusing robot by two range cells, overcome prior art and laid track, complicated, costly, high to the processor requirement shortcoming of construction, improved and patrolled and examined efficiency, reduced routing inspection cost.
Please refer to Fig. 1, the structural representation of the mobile alignment control system that Fig. 1 is crusing robot provided by the present invention.In a kind of concrete embodiment, the mobile alignment control system of crusing robot provided by the present invention, comprises the first range cells 1, the second range cells 2 and control module 3.Wherein, the first range cells 1, at least comprises two distance measuring sensors that homonymy arranges, and for detection of first group of distance signal, and first group of distance signal is passed to control module 3; The second range cells 2, at least comprises two distance measuring sensors that homonymy arranges, and for detection of second group of distance signal, and second group of distance signal is passed to control module 3; Control module 3, sets the first predetermined value, and by first group of distance signal and the first predetermined value comparison, if at least one distance signal equals the first predetermined value in first group of distance signal, Robot first passage moves forward; If first group of distance signal is all greater than the first predetermined value or equal no signal, robot starts the second range cells 2, detects second group of distance signal, if second group of distance signal is all less than or equal to the second predetermined value, robot turns to first direction.This system architecture is simple, low to processor requirement, by control the mobile alignment of crusing robot by two range cells, overcome prior art and laid track, complicated, costly, high to the processor requirement shortcoming of construction, improved and patrolled and examined efficiency, reduced routing inspection cost.
In order to realize robot, to patrol and examine route be circulation bidirectional patrol mode, further, the first range cells and the second range cells are set to both sides and are respectively provided to few two distance measuring sensors, and the relative position of two distance measuring sensors that homonymy arranges is for one in front and one in back arranging, front and back are herein for what stipulate with respect to robot mobile alignment direction, every row pouity dwelling place are set so all in the scope of patrolling and examining, and can guarantee not undetected, can avoid again many inspections, improve the efficiency of patrolling and examining of crusing robot.
Further, the distance measuring sensor in the first range cells 1 is radar range finding sensor, and it is low that radar range finding sensor has price, feature applied widely; Distance measuring sensor in the second range cells 2 is infrared distance sensor, because radar range finding sensor is easily subject to the interference of external electromagnetic ripple, infrared distance sensor is set herein can effectively be revised the detection mistake of radar range finding sensor appearance, thereby to robot, turn to confirm opportunity, realize correctly turning to of robot.
Particularly, the first above-mentioned predetermined value is for the mobile alignment of the described robot of setting is along the distance between first direction and the first mark; The second predetermined value is the distance between described Robot second direction and the second mark; First direction and described second direction are horizontal direction, and both angles are greater than 0 degree.Steering direction is applicable to the many rows mark (in specific embodiment, mark can be the pouity dwelling place that poultry cultivation factory arranges) be arrangeding in parallel like this, and wherein, the first predetermined value is the mobile alignment of the robot of setting and the distance between mark.As shown in Figure 2, the mobile alignment figure that Fig. 2 is crusing robot provided by the present invention.In the pouity dwelling place be arrangeding in parallel, crusing robot provided by the present invention can be along pouity dwelling place 11 as shown in Figure 2, and the track route 22 of robot is the direction shown in arrow in figure.
Particularly, the first mark can be the pouity dwelling place of poultry cultivation factory layout, and the second mark can be the peripheral wall of pouity dwelling place.The first pouity dwelling place is vertical with peripheral wall to be arranged, and described first direction and described second direction angle are 90 degree.Be that crusing robot moves ahead along the mode parallel with pouity dwelling place, ideal distance between mobile alignment and the sidewall of pouity dwelling place is made as the first predetermined value, ideal distance between robot front end and peripheral wall is made as the second predetermined value, by predeterminable range in two horizontal directions, judge that whether robot arrives the position that needs turning, determines whether robot turns to.This control method is simple and convenient, and reliable and stable.
Mobile alignment control system except above-mentioned crusing robot, the present invention also provides a kind of control method of the mobile alignment control system based on above-mentioned crusing robot, utilize the method, can effectively improve and patrol and examine work efficiency, the survival condition of the ambient condition of Real-Time Monitoring plant and fowl poultry, improve plant's work efficiency and reliability, guarantee security and the controllability of breeding environment.
Please refer to Fig. 3, the process flow diagram of a kind of embodiment of mobile alignment control method that Fig. 3 is crusing robot provided by the present invention.
In the concrete embodiment of the first, control method provided by the present invention comprises the following steps:
Step S11, control module is set the first predetermined value and the second predetermined value, and the direction that control module control extends to passage with the first predetermined value moves forward;
Step S12, detect first group of distance signal, the first predetermined value (mobile alignment of robot and the distance value between pouity dwelling place) that compares first group of distance signal and setting, if be equal to, keep advancing, if at least one signal is less than, proceed to step S13, if be all greater than or no signal, proceed to step S14;
Step S13, control enters keeps away barrier pattern, has judged whether that barrier stops, and if so, cut-through thing continues former route and moves forward, and if not, sends the signal of rectifying a deviation, and controls the driver element of crusing robot, realizes correction, and moves on;
Step S14, detect second group of distance signal, the second predetermined value (distance of the pouity dwelling place between the walls of robot and described passage extension) that compares second group of distance signal and setting, if be greater than, illustrate that the position that robot turns to far from needs also has certain distance, also do not arrive the position that need to turn to, proceed to step S12, again first group of distance signal detected; If be less than or equal to, illustrate that robot has reached the position that need to turn to, control turns to.
In the control method for movement of crusing robot provided by the present invention, two marks are set, and according to the track route of robot distance respectively and between two marks in two horizontal directions, the first predetermined value and the second predetermined value are set, during as robot ambulation, whether need the reference turning to.Be about to first group of distance signal and the first predetermined value comparison, if first group of distance signal is greater than the first predetermined value, or no signal, illustrate that robot departs from normal track route or arrives the position that need to turn to, now compare second group of distance signal and the second predetermined value, if second group of distance signal is less than or equal to the second predetermined value, examined robot and arrived the position that can turn to, control module knows that after this signal, control turns to.The both direction of this control method from surface level gathers the positional information of robot, confirms that errorless rear control turns to, and control method is simple and convenient, can improve accuracy and adaptability that robot controls.
In the concrete embodiment of the second, control method provided by the present invention comprises the following steps:
Step S21, control module is set the first predetermined value, the second predetermined value, the 3rd predetermined value, and the direction that control module control extends to passage with the first predetermined value moves forward;
Step S22, detect first group of distance signal, the first predetermined value (mobile alignment of robot and the distance value between pouity dwelling place) that compares first group of distance signal and setting, if be equal to, proceed to step S23, if at least one signal is less than, proceed to step S24, if be all greater than or no signal, proceed to step S25;
Step S23, control continues forward mobile along channel direction;
Step S24, control enters keeps away barrier pattern, has judged whether that barrier stops, and if so, cut-through thing continues former route and moves forward, and if not, sends the signal of rectifying a deviation, and controls the driver element of crusing robot, realizes correction, and moves on;
Step S25, detects second group of distance signal, compares second predetermined value (distance of the pouity dwelling place between the walls of robot and described passage extension) of second group of distance signal and setting, if be all greater than, proceed to step S22, if be all not more than, proceed to step S27;
Step S26, control extends vertical directional steering to passage, realizes the correction to first group of range cells, guarantees that robot can accurately judge the opportunity that turns to, and avoids, because erroneous judgement turns to mistake, bumping against with pouity dwelling place.
Step S27, control moves forward the 3rd predetermined value (channel width value), guarantees robot steering safety, avoids bumping with pouity dwelling place;
Step S28, control turns to and moves forward to next passage bearing of trend.
Because infrared distance sensor is not subject to electromagnetic interference, the detection mistake that can avoid radar range finding sensor to produce due to extraneous undesired signal, this control system algorithm is simple, low to processor requirement, has improved the reliability of crusing robot.
In the second embodiment, the mobile alignment of crusing robot turns to rule to control by two, and first turns to rule identical with the first embodiment, the foundation of utilizing the predeterminable range of both direction on surface level whether to turn to as robot; Second turns to rule is default travel distance, when Robot given line walking the 3rd predetermined value, starts to turn to.The method has increased robot and has patrolled and examined the dirigibility turning to while controlling.
Above mobile alignment control method and the control system of crusing robot provided by the present invention are described in detail.Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of the claims in the present invention.
Claims (9)
1. a mobile alignment control system for crusing robot, is characterized in that, comprising:
The first range cells, at least comprises two distance measuring sensors that homonymy arranges, and for detection of first group of distance signal, and first group of distance signal is passed to control module;
The second range cells, at least comprises two distance measuring sensors that homonymy arranges, and for detection of second group of distance signal, and second group of distance signal is passed to control module;
Control module, be used for setting the first predetermined value and the second predetermined value, control the first range cells and the second range cells, receive first group of distance signal and second group of distance signal are carried out to calculation process, if at least one distance signal equals the first predetermined value in first group of distance signal, Robot first passage moves forward, if first group of distance signal is all greater than the first predetermined value or equal no signal, robot starts the second range cells, detect second group of distance signal, if second group of distance signal is all less than or equal to the second predetermined value, robot turns to, if at least one distance signal is greater than the second predetermined value in second group of distance signal, robot continues to detect first group of distance signal.
2. the mobile alignment control system of crusing robot as claimed in claim 1, is characterized in that, in described the first range cells, is respectively provided to few two distance measuring sensors in the both sides of robot; In described the second range cells, in the both sides of robot, be respectively provided to few two distance measuring sensors.
3. the mobile alignment control system of crusing robot as claimed in claim 2, it is characterized in that, described in described the first range cells, distance measuring sensor is radar range finding sensor, and the described distance measuring sensor in described the second range cells is infrared distance sensor.
4. the mobile alignment control system of the crusing robot as described in claim 1-3 any one, is characterized in that, the mobile alignment that described the first predetermined value is the described robot of setting is along the distance between first direction and the first mark; Described the second predetermined value is the distance between described Robot second direction and the second mark; Described first direction and described second direction are horizontal direction, and both angles are greater than 0 degree.
5. the mobile alignment control system of crusing robot as claimed in claim 4, is characterized in that, described the first mark is the pouity dwelling place that poultry cultivation factory arranges, the peripheral wall that the second mark is pouity dwelling place.
6. the mobile alignment control system of crusing robot as claimed in claim 5, is characterized in that, described the first pouity dwelling place arranges with described peripheral wall is vertical, and described first direction and described second direction angle are 90 degree.
7. a mobile alignment control method for crusing robot, for controlling the mobile alignment of crusing robot, is characterized in that, comprises the following steps:
Step 1): set the first predetermined value and the second predetermined value;
Step 2): detect first group of distance signal, and first group of distance signal is passed to control module;
Step 3): compare first group of distance signal and the first predetermined value, if at least one distance signal equals the first predetermined value in first group of distance signal, Robot first passage moves forward, if first group of distance signal is all greater than the first predetermined value or equal no signal, proceeds to step 4);
Step 4): start the second range cells, detect second group of distance signal, if second group of distance signal is all less than or equal to the second predetermined value, robot turns to; If at least one distance signal is greater than the second predetermined value in second group of distance signal, proceed to step 3).
8. the mobile alignment control method of crusing robot as claimed in claim 7, is characterized in that, the mobile alignment that described the first predetermined value is the described robot of setting is along the distance between first direction and the first mark; Described the second predetermined value is the described Robot second direction of setting and the distance between the second mark; Described first direction and described second direction are horizontal direction, and both angles are greater than 0 degree.
9. the mobile alignment control method of crusing robot as claimed in claim 7, is characterized in that, further comprising the steps of: set the 3rd predetermined value, control after described robot moves the 3rd predetermined value and again turn to, along second channel, move forward.
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| CN113442138A (en) * | 2021-06-28 | 2021-09-28 | 中铁十二局集团有限公司 | Routing planning method for inspection path of climbing robot in tunnel |
| CN115250950A (en) * | 2022-08-02 | 2022-11-01 | 苏州数智赋农信息科技有限公司 | Artificial intelligence-based livestock and poultry pig farm inspection method and system |
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| CN112130561A (en) * | 2020-08-25 | 2020-12-25 | 南京硕升网络科技有限公司 | Action deviation correction control circuit and control method of machine room inspection robot based on external light intensity |
| CN112945395A (en) * | 2021-03-17 | 2021-06-11 | 西藏新好科技有限公司 | Livestock and poultry animal body temperature evaluation method based on target detection |
| CN113442138A (en) * | 2021-06-28 | 2021-09-28 | 中铁十二局集团有限公司 | Routing planning method for inspection path of climbing robot in tunnel |
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| CN115250950A (en) * | 2022-08-02 | 2022-11-01 | 苏州数智赋农信息科技有限公司 | Artificial intelligence-based livestock and poultry pig farm inspection method and system |
| CN115250950B (en) * | 2022-08-02 | 2024-01-19 | 苏州数智赋农信息科技有限公司 | Method and system for inspecting livestock and poultry pig farm based on artificial intelligence |
| CN115271552A (en) * | 2022-09-26 | 2022-11-01 | 北京艾瑞信系统工程技术有限责任公司 | Intelligent data center inspection system |
| CN115271552B (en) * | 2022-09-26 | 2023-01-13 | 北京艾瑞信系统工程技术有限责任公司 | Intelligent data center inspection system |
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